Related papers: Hierarchical Procedural Framework for Low-latency …
Human-robot interaction (HRI) is an important component to improve the flexibility of modern production lines. However, in real-world applications, the task (\ie the conditions that the robot needs to operate on, such as the environmental…
Generating physically plausible dynamic motions of human-object interaction (HOI) remains challenging, mainly due to existing HOI datasets limited to static interactions, and pretrained agents capable of either dynamic full-body motions…
We present IMPACT-HOI, a mixed-initiative framework for annotating egocentric procedural video by constructing structured event graphs for Human-Object Interactions (HOI), motivated by the need for high-quality structured supervision for…
Robot capabilities are maturing across domains, from self-driving cars, to bipeds and drones. As a result, robots will soon no longer be confined to safety-controlled industrial settings; instead, they will directly interact with the…
Robots for physical Human-Robot Collaboration (pHRC) systems need to change their behavior and how they operate in consideration of several factors, such as the performance and intention of a human co-worker and the capabilities of…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
Safety, reliability, and user trust are crucial in human-robot interaction (HRI) where the robots must address hazards in real-time. This study presents hazard driven low-level control strategies implemented in robot-assisted dressing (RAD)…
Humanoid robots have apparently similar body structure like human beings. Due to their technical design, they are sharing the same workspace with humans. They are placed to clean things, to assist old age people, to entertain us and most…
Humanoid robots have shown success in locomotion and manipulation. Despite these basic abilities, humanoids are still required to quickly understand human instructions and react based on human interaction signals to become valuable…
Synthesizing physically plausible articulated human-object interactions (HOI) without 3D/4D supervision remains a fundamental challenge. While recent zero-shot approaches leverage video diffusion models to synthesize human-object…
With the advancements in human-robot interaction (HRI), robots are now capable of operating in close proximity and engaging in physical interactions with humans (pHRI). Likewise, contact-based pHRI is becoming increasingly common as robots…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…
In the last years, several hierarchical frameworks have been proposed to deal with highly-redundant robotic systems. Some of that systems are expected to perform multiple tasks and physically to interact with the environment. However, none…
Human-centric video generation has advanced rapidly, yet existing methods struggle to produce controllable and physically consistent Human-Object Interaction (HOI) videos. Existing works rely on dense control signals, template videos, or…
Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated objects rigidly coupled to the robot, ignoring underactuated…
This paper presents a Mixed-Initiative (MI) framework for addressing the problem of control authority transfer between a remote human operator and an AI agent when cooperatively controlling a mobile robot. Our Hierarchical Expert-guided…
Human-object interaction detection (HOID) refers to localizing interactive human-object pairs in images and identifying the interactions. Since there could be an exponential number of object-action combinations, labeled data is limited -…
We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…