相关论文: Understanding of Object Manipulation Actions Using…

Perceptual processes are frequently multi-modal. This is the case of haptic perception. Data sets of visual and haptic sensory signals have been compiled in the past, especially when it comes to the exploration of textured surfaces. These…

This paper proposes a novel multi-modal transformer network for detecting actions in untrimmed videos. To enrich the action features, our transformer network utilizes a new multi-modal attention mechanism that computes the correlations…

Human Activity Recognition (HAR) systems aim to understand human behaviour and assign a label to each action, attracting significant attention in computer vision due to their wide range of applications. HAR can leverage various data…

Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…

Due to the increasing number of mobile robots including domestic robots for cleaning and maintenance in developed countries, human activity recognition is inevitable for congruent human-robot interaction. Needless to say that this is indeed…

In the field of robotic manipulation, deep imitation learning is recognized as a promising approach for acquiring manipulation skills. Additionally, learning from diverse robot datasets is considered a viable method to achieve versatility…

To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular…

Multi-modality is an important feature of sensor based activity recognition. In this work, we consider two inherent characteristics of human activities, the spatially-temporally varying salience of features and the relations between…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…

Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…

Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…

Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…

Human Action Recognition (HAR) aims to understand human behavior and assign a label to each action. It has a wide range of applications, and therefore has been attracting increasing attention in the field of computer vision. Human actions…

Humans have the natural ability to recognize actions even if the objects involved in the action or the background are changed. Humans can abstract away the action from the appearance of the objects which is referred to as compositionality…

Human-robot interaction (HRI) research is progressively addressing multi-party scenarios, where a robot interacts with more than one human user at the same time. Conversely, research is still at an early stage for human-robot collaboration.…

In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…

We develop a method for learning periodic tasks from visual demonstrations. The core idea is to leverage periodicity in the policy structure to model periodic aspects of the tasks. We use active learning to optimize parameters of rhythmic…

The vast proliferation of sensor devices and Internet of Things enables the applications of sensor-based activity recognition. However, there exist substantial challenges that could influence the performance of the recognition system in…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…