Related papers: Adaptive Robot Perception in Construction Environm…
Human Activity Recognition (HAR) is a well-studied field with research dating back to the 1980s. Over time, HAR technologies have evolved significantly from manual feature extraction, rule-based algorithms, and simple machine learning…
The current gold standard for human activity recognition (HAR) is based on the use of cameras. However, the poor scalability of camera systems renders them impractical in pursuit of the goal of wider adoption of HAR in mobile computing…
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…
In this work we argue that in Human-Robot Collaboration (HRC) tasks, the Perception-Action cycle in HRC tasks can not fully explain the collaborative behaviour of the human and robot and it has to be extended to Perception-Intention-Action…
The introduction of assistive construction robots can significantly alleviate physical demands on construction workers while enhancing both the productivity and safety of construction projects. Leveraging a Building Information Model (BIM)…
Real-time human activity recognition plays an essential role in real-world human-centered robotics applications, such as assisted living and human-robot collaboration. Although previous methods based on skeletal data to encode human poses…
Ensuring safety in human-robot interaction (HRI) is essential to foster user trust and enable the broader adoption of robotic systems. Traditional safety models primarily rely on sensor-based measures, such as relative distance and…
Holistic scene understanding poses a fundamental contribution to the autonomous operation of a robotic agent in its environment. Key ingredients include a well-defined representation of the surroundings to capture its spatial structure as…
Unrecognized hazards increase the likelihood of workplace fatalities and injuries substantially. However, recent research has demonstrated that a large proportion of hazards remain unrecognized in dynamic construction environments. Recent…
Natural Human-Robot Interaction (N-HRI) requires robots to recognize human actions at varying distances and states, regardless of whether the robot itself is in motion or stationary. This setup is more flexible and practical than…
Human Activity Recognition (HAR) is a powerful tool for understanding human behaviour. Applying HAR to wearable sensors can provide new insights by enriching the feature set in health studies, and enhance the personalisation and…
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…
In this paper, we propose the problem of collaborative perception, where robots can combine their local observations with those of neighboring agents in a learnable way to improve accuracy on a perception task. Unlike existing work in…
Human activity recognition~(HAR) has attracted significant research interest due to its applications in health monitoring and patient rehabilitation. Recent research on HAR focuses on using smartphones due to their widespread use. However,…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…
Many deep architectures and self-supervised pre-training techniques have been proposed for human activity recognition (HAR) from wearable multimodal sensors. Scaling laws have the potential to help move towards more principled design by…
This paper explores a physical human-robot collaboration (pHRC) task involving the joint insertion of a board into a frame by a sightless robot and a human operator. While admittance control is commonly used in pHRC tasks, it can be…
Accurately assessing the potential value of new sensor observations is a critical aspect of planning for active perception. This task is particularly challenging when reasoning about high-level scene understanding using measurements from…
One of the key issues in human-robot collaboration is the development of computational models that allow robots to predict and adapt to human behavior. Much progress has been achieved in developing such models, as well as control techniques…