Related papers: Multi-View Active Sensing for Human-Robot Interact…
With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration…
Understanding physical relations between objects, especially their support relations, is crucial for robotic manipulation. There has been work on reasoning about support relations and structural stability of simple configurations in RGB-D…
3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…
Taking over arbitrary tasks like humans do with a mobile service robot in open-world settings requires a holistic scene perception for decision-making and high-level control. This paper presents a human-inspired scene perception model to…
RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…
Recent advancements in learning from human demonstration have shown promising results in addressing the scalability and high cost of data collection required to train robust visuomotor policies. However, existing approaches are often…
Automatic surgical gesture recognition is fundamental for improving intelligence in robot-assisted surgery, such as conducting complicated tasks of surgery surveillance and skill evaluation. However, current methods treat each frame…
Various robots, rovers, drones, and other agents of mass-produced products are expected to encounter scenes where they intersect and collaborate in the near future. In such multi-agent systems, individual identification and communication…
Reliable perception is essential for robots that interact with the world. But sensors alone are often insufficient to provide this capability, and they are prone to errors due to various conditions in the environment. Furthermore, there is…
Online semantic 3D segmentation in company with real-time RGB-D reconstruction poses special challenges such as how to perform 3D convolution directly over the progressively fused 3D geometric data, and how to smartly fuse information from…
Robust 3D human pose estimation is crucial to ensure safe and effective human-robot collaboration. Accurate human perception,however, is particularly challenging in these scenarios due to strong occlusions and limited camera viewpoints.…
Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…
Visual servoing is a well-known task in robotics. However, there are still challenges when multiple visual sources are combined to accurately guide the robot or occlusions appear. In this paper we present a novel visual servoing approach…
Visual reasoning, particularly spatial reasoning, is a challenging cognitive task that requires understanding object relationships and their interactions within complex environments, especially in robotics domain. Existing vision_language…
Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…
The ability to recognize objects is an essential skill for a robotic system acting in human-populated environments. Despite decades of effort from the robotic and vision research communities, robots are still missing good visual perceptual…
Human-object interactions with articulated objects are common in everyday life. Despite much progress in single-view 3D reconstruction, it is still challenging to infer an articulated 3D object model from an RGB video showing a person…
4D modeling of human-object interactions is critical for numerous applications. However, efficient volumetric capture and rendering of complex interaction scenarios, especially from sparse inputs, remain challenging. In this paper, we…
The integration of dialogue interfaces in mobile devices has become ubiquitous, providing a wide array of services. As technology progresses, humanoid robots designed with human-like features to interact effectively with people are gaining…
We present a joint camera and radar approach to enable autonomous vehicles to understand and react to human gestures in everyday traffic. Initially, we process the radar data with a PointNet followed by a spatio-temporal multilayer…