Related papers: TAIHRI: Task-Aware 3D Human Keypoints Localization…
Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile…
Analyzing and training 3D body posture models depend heavily on the availability of joint labels that are commonly acquired through laborious manual annotation of body joints or via marker-based joint localization using carefully curated…
Perceiving humans in the context of Intelligent Transportation Systems (ITS) often relies on multiple cameras or expensive LiDAR sensors. In this work, we present a new cost-effective vision-based method that perceives humans' locations in…
This paper presents an innovative large language model (LLM)-based robotic system for enhancing multi-modal human-robot interaction (HRI). Traditional HRI systems relied on complex designs for intent estimation, reasoning, and behavior…
This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…
Dynamic hand gestures play a crucial role in conveying nonverbal information for Human-Robot Interaction (HRI), eliminating the need for complex interfaces. Current models for dynamic gesture recognition suffer from limitations in effective…
This paper presents a novel human-robot interaction (HRI) framework that enables intuitive gesture-driven control through a capacitance-based woven tactile skin. Unlike conventional interfaces that rely on panels or handheld devices, the…
TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…
Non-verbal communication plays a particularly important role in a wide range of scenarios in Human-Robot Interaction (HRI). Accordingly, this work addresses the problem of human gesture recognition. In particular, we focus on head and eye…
Multi-robot systems hold significant promise for social environments such as homes and hospitals, yet existing multi-robot works treat robots as functionally identical, overlooking how robots individual identity shape user perception and…
Virtual Reality (VR) is gaining ground in the robotics and teleoperation industry, opening new prospects as a novel computerized methodology to make humans interact with robots. In contrast with more conventional button-based…
Human-object interaction (HOI) detection as a downstream of object detection tasks requires localizing pairs of humans and objects and extracting the semantic relationships between humans and objects from an image. Recently, one-stage…
Advances in large language models (LLMs) are profoundly reshaping the field of human-robot interaction (HRI). While prior work has highlighted the technical potential of LLMs, few studies have systematically examined their human-centered…
Hand gestures play a significant role in human interactions where non-verbal intentions, thoughts and commands are conveyed. In Human-Robot Interaction (HRI), hand gestures offer a similar and efficient medium for conveying clear and rapid…
Humans often work closely together and relay a wealth of information through physical interaction. Robots, on the other hand, are not yet able to work similarly closely with humans and to effectively convey information when engaging in…
Increasing autonomous vehicles (AVs) in transportation systems makes effective interactions between AVs and pedestrians indispensable. External human--machine interface (eHMI), which employs visual or auditory cues to explicitly convey…
Scaling up robot learning will likely require human data containing rich and long-horizon interactions in the wild. Existing approaches for collecting such data trade off portability, robustness to occlusion, and global consistency. We…
This paper presents a novel manipulation strategy that uses keypoint correspondences extracted from visuo-tactile sensor images to facilitate precise object manipulation. Our approach uses the visuo-tactile feedback to guide the robot's…
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…
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…