Related papers: WhACC: Whisker Automatic Contact Classifier with E…
{Recognizing human interactions is essential for social robots as it enables them to navigate safely and naturally in shared environments. Conventional robotic systems however often focus on obstacle avoidance, neglecting social cues…
Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a…
Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridging this gap necessitates prioritizing reliable contact…
Advanced service robots require superior tactile intelligence to guarantee human-contact safety and to provide essential supplements to visual and auditory information for human-robot interaction, especially when a robot is in physical…
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…
We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two…
Video Detailed Captioning (VDC) is a crucial task for vision-language bridging, enabling fine-grained descriptions of complex video content. In this paper, we first comprehensively benchmark current state-of-the-art approaches 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…
This paper presents a new large-scale dataset for recognition and temporal localization of human actions collected from Web videos. We refer to it as HACS (Human Action Clips and Segments). We leverage both consensus and disagreement among…
Creating lifelike virtual agents capable of interacting with their environments is a longstanding goal in computer graphics. This paper addresses the challenge of generating natural head rotations, a critical aspect of believable agent…
Large-scale, high-quality multimodal demonstrations are essential for robot learning of contact-rich dexterous manipulation. While human-centric data collection systems lower the barrier to scaling, they struggle to capture the tactile…
OpenAI Whisper is a family of robust Automatic Speech Recognition (ASR) models trained on 680,000 hours of audio. However, its encoder-decoder architecture, trained with a sequence-to-sequence objective, lacks native support for streaming…
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,…
Activity recognition using built-in sensors in smart and wearable devices provides great opportunities to understand and detect human behavior in the wild and gives a more holistic view of individuals' health and well being. Numerous…
Studying animal locomotion improves our understanding of motor control and aids in the treatment of motor impairment. Mice are a premier model of human disease and are the model system of choice for much of basic neuroscience. High frame…
Maintaining situational awareness (SA) is critical in human-robot teams. Yet, under high workload and dynamic conditions, operators often experience SA gaps. Automated detection of SA gaps could provide timely assistance for operators.…
To fluently collaborate with people, robots need the ability to recognize human activities accurately. Although modern robots are equipped with various sensors, robust human activity recognition (HAR) still remains a challenging task for…
Texture-based studies and designs have been in focus recently. Whisker-based multidimensional surface texture data is missing in the literature. This data is critical for robotics and machine perception algorithms in the classification and…
Most existing video tasks related to "human" focus on the segmentation of salient humans, ignoring the unspecified others in the video. Few studies have focused on segmenting and tracking all humans in a complex video, including pedestrians…
Large-scale in-the-wild speech datasets have become more prevalent in recent years due to increased interest in models that can learn useful features from unlabelled data for tasks such as speech recognition or synthesis. These datasets…