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Human-Object Interaction (HOI) detection plays a core role in activity understanding. Though recent two/one-stage methods have achieved impressive results, as an essential step, discovering interactive human-object pairs remains…

Learning to solve complex manipulation tasks from visual observations is a dominant challenge for real-world robot learning. Although deep reinforcement learning algorithms have recently demonstrated impressive results in this context, they…

Monocular 4D human-object interaction (HOI) reconstruction - recovering a moving human and a manipulated object from a single RGB video - remains challenging due to depth ambiguity and frequent occlusions. Existing methods often rely on…

In this paper, we present CAIO, a Cognitive and Affective Interaction-Oriented architecture for social human-robot interactions (HRI), allowing robots to reason on mental states (including emotions), and to act physically, emotionally and…

In the construction industry, where work environments are complex, unstructured and often dangerous, the implementation of Human-Robot Collaboration (HRC) is emerging as a promising advancement. This underlines the critical need for…

This paper addresses the problem of text-to-video temporal grounding, which aims to identify the time interval in a video semantically relevant to a text query. We tackle this problem using a novel regression-based model that learns to…

Human-Object Interaction (HOI) Detection is an important problem to understand how humans interact with objects. In this paper, we explore Interactiveness Knowledge which indicates whether human and object interact with each other or not.…

Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…

Cooperation among humans makes it easy to execute tasks and navigate seamlessly even in unknown scenarios. With our individual knowledge and collective cognition skills, we can reason about and perform well in unforeseen situations and…

Robots are required to execute increasingly complex instructions in dynamic environments, which can lead to a disconnect between the user's intent and the robot's representation of the instructions. In this paper we present a natural…

Robotic grasping faces new challenges in human-robot-interaction scenarios. We consider the task that the robot grasps a target object designated by human's language directives. The robot not only needs to locate a target based on…

The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…

Visual robustness under real-world conditions remains a critical bottleneck for modern reinforcement learning agents. In contrast, biological systems such as mice show remarkable resilience to environmental changes, maintaining stable…

Simulation tools are essential for robotics research, especially for those domains in which safety is crucial, such as Human-Robot Collaboration (HRC). However, it is challenging to simulate human behaviors, and existing robotics simulators…

We describe a multi-phased Wizard-of-Oz approach to collecting human-robot dialogue in a collaborative search and navigation task. The data is being used to train an initial automated robot dialogue system to support collaborative…

A long-term goal of Artificial Intelligence is to build a language understanding system that allows a human to collaborate with a physical robot using language that is natural to the human. In this paper we highlight some of the challenges…

Large text-to-video models hold immense potential for a wide range of downstream applications. However, they struggle to accurately depict dynamic object interactions, often resulting in unrealistic movements and frequent violations of…

We study the ongoing debate regarding the statistical fidelity of AI-generated data compared to human-generated data in the context of non-verbal communication using full body motion. Concretely, we ask if contemporary generative models…

Human object interaction (HOI) detection plays a crucial role in human-centric scene understanding and serves as a fundamental building-block for many vision tasks. One generalizable and scalable strategy for HOI detection is to use weak…

We present an approach for the verification and validation (V&V) of robot assistants in the context of human-robot interactions (HRI), to demonstrate their trustworthiness through corroborative evidence of their safety and functional…