相关论文: Human Action Forecasting by Learning Task Grammars

Recent years have witnessed a growing interest in automating labor-intensive and complex activities, i.e., those consisting of multiple atomic tasks, by deploying robots in dynamic and unpredictable environments such as industrial and…

We consider the problem of image-to-video translation, where an input image is translated into an output video containing motions of a single object. Recent methods for such problems typically train transformation networks to generate…

Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…

We address the problem of teaching a deep reinforcement learning (RL) agent to follow instructions in multi-task environments. Instructions are expressed in a well-known formal language -- linear temporal logic (LTL) -- and can specify a…

We present a reinforcement learning based framework for human-centered collaborative systems. The framework is proactive and balances the benefits of timely actions with the risk of taking improper actions by minimizing the total time spent…

Automated real-time prediction of the ergonomic risks of manipulating objects is a key unsolved challenge in developing effective human-robot collaboration systems for logistics and manufacturing applications. We present a foundational…

Solving real-world manipulation tasks requires robots to have a repertoire of skills applicable to a wide range of circumstances. When using learning-based methods to acquire such skills, the key challenge is to obtain training data that…

Capturing scene dynamics and predicting the future scene state is challenging but essential for robotic manipulation tasks, especially when the scene contains both rigid and deformable objects. In this work, we contribute a simulation…

In robot task planning, large language models (LLMs) have shown significant promise in generating complex and long-horizon action sequences. However, it is observed that LLMs often produce responses that sound plausible but are not…

An embodied agent assisting humans is often asked to complete new tasks, and there may not be sufficient time or labeled examples to train the agent to perform these new tasks. Large Language Models (LLMs) trained on considerable knowledge…

The term "nexting" has been used by psychologists to refer to the propensity of people and many other animals to continually predict what will happen next in an immediate, local, and personal sense. The ability to "next" constitutes a basic…

Stowing, the task of placing objects in cluttered shelves or bins, is a common task in warehouse and manufacturing operations. However, this task is still predominantly carried out by human workers as stowing is challenging to automate due…

Evaluating the real-world capabilities of AI systems requires grounding benchmark performance in human-interpretable measures of task difficulty. Existing approaches that rely on direct human task completion time annotations are costly,…

As humans learn new skills and apply their existing knowledge while maintaining previously learned information, "continual learning" in machine learning aims to incorporate new data while retaining and utilizing past knowledge. However,…

Automatically reasoning about future human behaviors is a difficult problem but has significant practical applications to assistive systems. Part of this difficulty stems from learning systems' inability to represent all kinds of behaviors.…

The development of a generalist agent with adaptive multiple manipulation skills has been a long-standing goal in the robotics community. In this paper, we explore a crucial task, skill-incremental learning, in robotic manipulation, which…

Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…

Human pose forecasting predicts future poses based on past observations, and has many significant applications in areas such as action recognition, autonomous driving or human-robot interaction. This paper evaluates a wide range of pose…

This paper proposes methods of predicting dynamic time series (including non-stationary ones) based on a linguistic approach, namely, the study of occurrences and repetition of so-called N-grams. This approach is used in computational…

For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world…