相关论文: A Joint Motion Model for Human-Like Robot-Human Ha…

Autonomous mobile service robots, like lawnmowers or cleaning robots, operating in human-populated environments need to reason about local human-human interactions to support safe and socially aware navigation while fulfilling their tasks.…

In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…

This article presents a method for learning well-coordinated Human-Robot Interaction (HRI) from Human-Human Interactions (HHI). We devise a hybrid approach using Hidden Markov Models (HMMs) as the latent space priors for a Variational…

The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…

Humanoid robots have apparently similar body structure like human beings. Due to their technical design, they are sharing the same workspace with humans. They are placed to clean things, to assist old age people, to entertain us and most…

Multi-person motion prediction is a challenging problem due to the dependency of motion on both individual past movements and interactions with other people. Transformer-based methods have shown promising results on this task, but they miss…

The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly,…

This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…

Social robot navigation is an evolving research field that aims to find efficient strategies to safely navigate dynamic environments populated by humans. A critical challenge in this domain is the accurate modeling of human motion, which…

Humanoid robots, with their human-like form, are uniquely suited for interacting in environments built for people. However, enabling humanoids to reason, plan, and act in complex open-world settings remains a challenge. World models, models…

This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we…

Collaboration between human and robot requires effective modes of communication to assign robot tasks and coordinate activities. As communication can utilize different modalities, a multi-modal approach can be more expressive than single…

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…

We present a robot-to-human object handover algorithm and implement it on a 7-DOF arm equipped with a 3-finger mechanical hand. The system performs a fully autonomous and robust object handover to a human receiver in real-time. Our…

With robots becoming increasingly prevalent in various domains, it has become crucial to equip them with tools to achieve greater fluency in interactions with humans. One of the promising areas for further exploration lies in human trust. A…

The proliferation of robots in public spaces necessitates a deeper understanding of how these robots can interact with those they share the space with. In this paper, we present findings from video analysis of publicly deployed cleaning…

Human-to-Robot handovers are useful for many Human-Robot Interaction scenarios. It is important to recognize when a human intends to initiate handovers, so that the robot does not try to take objects from humans when a handover is not…

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…

Human interaction involves very sophisticated non-verbal communication skills like understanding the goals and actions of others and coordinating our own actions accordingly. Neuroscience refers to this mechanism as motor resonance, in the…

Estimating human poses from videos is critical in human-computer interaction. Joints cooperate rather than move independently during human movement. There are both spatial and temporal correlations between joints. Despite the positive…