相关论文: Modeling and Inferring Human Intents and Latent Fu…

Interactive Object Grasping (IOG) is the task of identifying and grasping the desired object via human-robot natural language interaction. Current IOG systems assume that a human user initially specifies the target object's category (e.g.,…

Trajectory prediction for scenes with multiple agents and entities is a challenging problem in numerous domains such as traffic prediction, pedestrian tracking and path planning. We present a general architecture to address this challenge…

We present a novel approach to weakly supervised object detection. Instead of annotated images, our method only requires two short videos to learn to detect a new object: 1) a video of a moving object and 2) one or more "negative" videos of…

Prediction of pedestrian crossing intention is a critical function in autonomous vehicles. Conventional vision-based methods of crossing intention prediction often struggle with generalizability, context understanding, and causal reasoning.…

Human visual perception offers valuable insights for understanding computational principles of motion-based scene interpretation. Humans robustly detect and segment moving entities that constitute independently moveable chunks of matter,…

Human-robot collaboration (HRC) in the construction industry depends on precise and prompt recognition of human motion intentions and actions by robots to maximize safety and workflow efficiency. There is a research gap in comparing data…

Human behavior has the nature of mutual dependencies, which requires human-robot interactive systems to predict surrounding agents trajectories by modeling complex social interactions, avoiding collisions and executing safe path planning.…

In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives).…

Occlusion is a long-standing problem that causes many modern tracking methods to be erroneous. In this paper, we address the occlusion problem by exploiting the current and future possible locations of the target object from its past…

We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. Our approach uses offline learning of human actions along with temporal coherence to…

Safe navigation of autonomous agents in human centric environments requires the ability to understand and predict motion of neighboring pedestrians. However, predicting pedestrian intent is a complex problem. Pedestrian motion is governed…

The active inference framework (AIF) is a promising new computational framework grounded in contemporary neuroscience that can produce human-like behavior through reward-based learning. In this study, we test the ability for the AIF to…

Accurate prediction of pedestrian crossing behaviors by autonomous vehicles can significantly improve traffic safety. Existing approaches often model pedestrian behaviors using trajectories or poses but do not offer a deeper semantic…

This paper presents a Bayesian framework for inferring the posterior of the augmented state of a target, incorporating its underlying goal or intent, such as any intermediate waypoints and/or the final destination. Thus, it is for joint…

Intent inferencing in teleoperation has been instrumental in aligning operator goals and coordinating actions with robotic partners. However, current intent inference methods often ignore subtle motion that can be strong indicators for a…

Game-theoretic motion planners are a potent solution for controlling systems of multiple highly interactive robots. Most existing game-theoretic planners unrealistically assume a priori objective function knowledge is available to all…

This paper presents a teleoperation system that includes robot perception and intent prediction from hand gestures. The perception module identifies the objects present in the robot workspace and the intent prediction module which object…

Humans possess an intricate and powerful visual system in order to perceive and understand the environing world. Human perception can effortlessly detect and correctly group features in visual data and can even interpret random-dot videos…

In this paper, we propose a novel end-to-end architecture that could generate a variety of plausible video sequences correlating two given discontinuous frames. Our work is inspired by the human ability of inference. Specifically, given two…

To anticipate how a human would act in the future, it is essential to understand the human intention since it guides the human towards a certain goal. In this paper, we propose a hierarchical architecture which assumes a sequence of human…