Related papers: HAIC: Humanoid Agile Object Interaction Control vi…
Humanoid activities involving sequential contacts are crucial for complex robotic interactions and operations in the real world and are traditionally solved by model-based motion planning, which is time-consuming and often relies on…
Fine-grained capturing of 3D HOI boosts human activity understanding and facilitates downstream visual tasks, including action recognition, holistic scene reconstruction, and human motion synthesis. Despite its significance, existing works…
Embedding Human and Articulated Object Interaction (HAOI) in 3D is an important direction for a deeper human activity understanding. Different from previous works that use parametric and CAD models to represent humans and objects, in this…
Human safety is the most important demand for human robot interaction and collaboration (HRIC), which not only refers to physical safety, but also includes psychological safety. Although many robots with different configurations have…
Detecting Human-Object Interaction (HOI) in images is an important step towards high-level visual comprehension. Existing work often shed light on improving either human and object detection, or interaction recognition. However, due to the…
Tracking and modeling unknown rigid objects in the environment play a crucial role in autonomous unmanned systems and virtual-real interactive applications. However, many existing Simultaneous Localization, Mapping and Moving Object…
The task of Human-Object Interaction (HOI) detection is to detect humans and their interactions with surrounding objects, where transformer-based methods show dominant advances currently. However, these methods ignore the relationship among…
Humanoid whole-body control requires adapting to diverse tasks such as navigation, loco-manipulation, and tabletop manipulation, each demanding a different mode of control. For example, navigation relies on root velocity tracking, while…
Remarkable capabilities have been achieved by robotics and AI, mastering complex tasks and environments. Yet, humans often remain passive observers, fascinated but uncertain how to engage. Robots, in turn, cannot reach their full potential…
Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…
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…
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…
Enabling robust whole-body humanoid-object interaction (HOI) remains challenging due to motion data scarcity and the contact-rich nature. We present HDMI (HumanoiD iMitation for Interaction), a simple and general framework that learns…
The rapid deployment of generative AI, copilots, and agentic systems in knowledge work has created an operational gap: no existing framework addresses how to organize daily work in teams where AI agents perform substantive, delegated tasks…
Generating physically realistic humanoid-object interactions (HOI) is a fundamental challenge in robotics. Existing HOI generation approaches, such as diffusion-based models, often suffer from artifacts such as implausible contacts,…
More adaptive controllers for robot manipulators are needed, which can deal with large model uncertainties. This paper presents a novel active inference controller (AIC) as an adaptive control scheme for industrial robots. This scheme is…
Human-Object Interaction (HOI) detection aims to detect visual relations between human and objects in images. One significant problem of HOI detection is that non-interactive human-object pair can be easily mis-grouped and misclassified as…
The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…
Understanding humans from LiDAR point clouds is one of the most critical tasks in autonomous driving due to its close relationships with pedestrian safety, yet it remains challenging in the presence of diverse human-object interactions and…