Related papers: InteRACT: Transformer Models for Human Intent Pred…

Tasks where robots must anticipate human intent, such as navigating around a cluttered home or sorting everyday items, are challenging because they exhibit a wide range of valid actions that lead to similar outcomes. Moreover, zero-shot…

This paper presents a teleoperation system that includes robot perception and intent prediction from hand gestures. The perception module identifies the objects present in the robot workspace and the intent prediction module which object…

Humans possess the innate ability to extract latent visuo-lingual cues to infer context through human interaction. During collaboration, this enables proactive prediction of the underlying intention of a series of tasks. In contrast,…

Assistive robots can potentially improve the quality of life and personal independence of elderly people by supporting everyday life activities. To guarantee a safe and intuitive interaction between human and robot, human intentions need to…

Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…

In the domain of autonomous household robots, it is of utmost importance for robots to understand human behaviors and provide appropriate services. This requires the robots to possess the capability to analyze complex human behaviors and…

Building a machine learning driven spoken dialog system for goal-oriented interactions involves careful design of intents and data collection along with development of intent recognition models and dialog policy learning algorithms. The…

Robots are becoming increasingly integrated into our lives, assisting us in various tasks. To ensure effective collaboration between humans and robots, it is essential that they understand our intentions and anticipate our actions. In this…

We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…

Predicting human intent is challenging yet essential to achieving seamless Human-Robot Collaboration (HRC). Many existing approaches fail to fully exploit the inherent relationships between objects, tasks, and the human model. Current…

The overarching goal of this work is to efficiently enable end-users to correctly anticipate a robot's behavior in novel situations. Since a robot's behavior is often a direct result of its underlying objective function, our insight is that…

Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…

Autonomous robots must communicate about their decisions to gain trust and acceptance. When doing so, robots must determine which actions are causal, i.e., which directly give rise to the desired outcome, so that these actions can be…

The effectiveness of human-robot interaction often hinges on the ability to cultivate engagement - a dynamic process of cognitive involvement that supports meaningful exchanges. Many existing definitions and models of engagement are either…

Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…

Humans have the fascinating capacity of processing non-verbal visual cues to understand and anticipate the actions of other humans. This "intention reading" ability is underpinned by shared motor-repertoires and action-models, which we use…

In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots are expected to assist in executing the user's intentions. To…

Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation.…

Although in the literature it is common to find predictors and inference systems that try to predict human intentions, the uncertainty of these models due to the randomness of human behavior has led some authors to start advocating the use…