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Human-to-Robot handovers are useful for many Human-Robot Interaction scenarios. It is important to recognize when a human intends to initiate handovers, so that the robot does not try to take objects from humans when a handover is not…
Human parsing is for pixel-wise human semantic understanding. As human bodies are underlying hierarchically structured, how to model human structures is the central theme in this task. Focusing on this, we seek to simultaneously exploit the…
We address the challenging task of identifying, segmenting, and tracking hand-held objects, which is crucial for applications such as human action segmentation and performance evaluation. This task is particularly challenging due to heavy…
Inspired by the human ability to selectively focus on relevant information, this paper introduces relevance, a novel dimensionality reduction process for human-robot collaboration (HRC). Our approach incorporates a continuously operating…
Human-object interaction (HOI) detection plays a key role in high-level visual understanding, facilitating a deep comprehension of human activities. Specifically, HOI detection aims to locate the humans and objects involved in interactions…
Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…
Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…
Current few-shot action recognition methods reach impressive performance by learning discriminative features for each video via episodic training and designing various temporal alignment strategies. Nevertheless, they are limited in that…
Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a…
Co-segmentation is the automatic extraction of the common semantic regions given a set of images. Different from previous approaches mainly based on object visuals, in this paper, we propose a human centred object co-segmentation approach,…
Human-Object Interaction (HOI) detection has received considerable attention in the context of scene understanding. Despite the growing progress on benchmarks, we realize that existing methods often perform unsatisfactorily on distant…
Human activity recognition (HAR) is fundamental in human-robot collaboration (HRC), enabling robots to respond to and dynamically adapt to human intentions. This paper introduces a HAR system combining a modular data glove equipped with…
Open-vocabulary human-object interaction (HOI) detection, which is concerned with the problem of detecting novel HOIs guided by natural language, is crucial for understanding human-centric scenes. However, prior zero-shot HOI detectors…
Object handover is a common human collaboration behavior that attracts attention from researchers in Robotics and Cognitive Science. Though visual perception plays an important role in the object handover task, the whole handover process…
Non-verbal communication plays a particularly important role in a wide range of scenarios in Human-Robot Interaction (HRI). Accordingly, this work addresses the problem of human gesture recognition. In particular, we focus on head and eye…
Human-Object Interaction (HOI) detection aims to simultaneously localize human-object pairs and recognize their interactions. While recent two-stage approaches have made significant progress, they still face challenges due to incomplete…
The fusion of Large Language Models with vision models is pioneering new possibilities in user-interactive vision-language tasks. A notable application is reasoning segmentation, where models generate pixel-level segmentation masks by…
The study of Human-Robot Interaction (HRI) aims to create close and friendly communication between humans and robots. In the human-center HRI, an essential aspect of implementing a successful and effective HRI is building a natural and…
Supernumerary robotic limbs (SRLs) are robotic structures integrated closely with the user's body, which augment human physical capabilities and necessitate seamless, naturalistic human-machine interaction. For effective assistance in…
Recent advances in 3D human-aware generation have made significant progress. However, existing methods still struggle with generating novel Human Object Interaction (HOI) from text, particularly for open-set objects. We identify three main…