相关论文: Probabilistic Hybrid Action Models for Predicting …

Human-robot collaboration is on the rise. Robots need to increasingly improve the efficiency and smoothness with which they assist humans by properly anticipating a human's intention. To do so, prediction models need to increase their…

In building artificial intelligence (AI) agents, referring to how brains function in real environments can accelerate development by reducing the design space. In this study, we propose a probabilistic generative model (PGM) for navigation…

Human Activity Recognition (HAR) is a pivotal component of robot perception for physical Human Robot Interaction (pHRI) tasks. In construction robotics, it is vital that robots have an accurate and robust perception of worker activities.…

Anticipating and adapting to failures is a key capability robots need to collaborate effectively with humans in complex domains. This continues to be a challenge despite the impressive performance of state of the art AI planning systems and…

As robots become more prevalent, the complexity of robot-robot, robot-human, and robot-environment interactions increases. In these interactions, a robot needs to consider not only the effects of its own actions, but also the effects of…

Manipulation tasks require robots to reason about cause and effect when interacting with objects. Yet, many data-driven approaches lack causal semantics and thus only consider correlations. We introduce COBRA-PPM, a novel causal Bayesian…

Understanding human mobility is important for the development of intelligent mobile service robots as it can provide prior knowledge and predictions of human distribution for robot-assisted activities. In this paper, we propose a…

Human motion prediction is an important and challenging topic that has promising prospects in efficient and safe human-robot-interaction systems. Currently, the majority of the human motion prediction algorithms are based on deterministic…

Despite remarkable progress in driving world models, their potential for autonomous systems remains largely untapped: the world models are mostly learned for world simulation and decoupled from trajectory planning. While recent efforts aim…

The field of predictive process monitoring focuses on case-level models to predict a single specific outcome such as a particular objective, (remaining) time, or next activity/remaining sequence. Recently, a longer-horizon, model-wide…

Real-world autonomous systems often employ probabilistic predictive models of human behavior during planning to reason about their future motion. Since accurately modeling human behavior a priori is challenging, such models are often…

This work presents a methodology for modeling and predicting human behavior in settings with N humans interacting in highly multimodal scenarios (i.e. where there are many possible highly-distinct futures). A motivating example includes…

In order for robots and other artificial agents to efficiently learn to perform useful tasks defined by an end user, they must understand not only the goals of those tasks, but also the structure and dynamics of that user's environment.…

This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is either unaware of the robot's presence or unwilling to engage…

Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…

Human-robot interactions (HRI) can be modeled as dynamic or differential games with incomplete information, where each agent holds private reward parameters. Due to the open challenge in finding perfect Bayesian equilibria of such games,…

PRAM puts agent-based models on a sound probabilistic footing as a basis for integrating agent-based and probabilistic models. It extends the themes of probabilistic relational models and lifted inference to incorporate dynamical models and…

To determine an optimal plan for complex tasks, one often deals with dynamic and hierarchical relationships between several entities. Traditionally, such problems are tackled with optimal control, which relies on the optimization of cost…

Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…

This paper proposes to use probabilistic model checking to synthesize optimal robot policies in multi-tasking autonomous systems that are subject to human-robot interaction. Given the convincing empirical evidence that human behavior can be…