相关论文: Data Efficient Human Intention Prediction: Leverag…
Predicting the next action that a human is most likely to perform is key to human-AI collaboration and has consequently attracted increasing research interests in recent years. An important factor for next action prediction are human…
Human teams can be exceptionally efficient at adapting and collaborating during manipulation tasks using shared mental models. However, the same shared mental models that can be used by humans to perform robust low-level force and motion…
Human motion prediction aims to predict future 3D skeletal sequences by giving a limited human motion as inputs. Two popular methods, recurrent neural networks and feed-forward deep networks, are able to predict rough motion trend, but…
Understanding human intentions is key to enabling effective and efficient human-robot interaction (HRI) in collaborative settings. To enable developments and evaluation of the ability of artificial intelligence (AI) systems to infer human…
To engender safe and efficient human-robot collaboration, it is critical to generate high-fidelity predictions of human behavior. The challenges in making accurate predictions lie in the stochasticity and heterogeneity in human behaviors.…
As robots increasingly integrate into everyday environments, ensuring their safe navigation around humans becomes imperative. Efficient and safe motion planning requires robots to account for human behavior, particularly in constrained…
With the substantial growth of logistics businesses the need for larger and more automated warehouses increases, thus giving rise to fully robotized shop-floors with mobile robots in charge of transporting and distributing goods. However,…
In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots are expected to assist in executing the user's intentions. To…
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…
Effective human-robot interaction requires robots to identify human intentions and generate expressive, socially appropriate motions in real-time. Existing approaches often rely on fixed motion libraries or computationally expensive…
Generating accurate and efficient predictions for the motion of the humans present in the scene is key to the development of effective motion planning algorithms for robots moving in promiscuous areas, where wrong planning decisions could…
When faced with accomplishing a task, human experts exhibit intentional behavior. Their unique intents shape their plans and decisions, resulting in experts demonstrating diverse behaviors to accomplish the same task. Due to the…
This work addresses human intention identification during physical Human-Robot Interaction (pHRI) tasks to include this information in an assistive controller. To this purpose, human intention is defined as the desired trajectory that the…
Human motion prediction is an essential component for enabling closer human-robot collaboration. The task of accurately predicting human motion is non-trivial. It is compounded by the variability of human motion, both at a skeletal level…
Constraint-aware estimation of human intent is essential for robots to physically collaborate and interact with humans. Further, to achieve fluid collaboration in dynamic tasks intent estimation should be achieved in real-time. In this…
How to build AI that understands human intentions, and uses this knowledge to collaborate with people? We describe a computational framework for evaluating models of goal inference in the domain of 3D motor actions, which receives as input…
Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. We introduce MoT-HRA, a hierarchical…
Robot understanding of human intentions is essential for fluid human-robot interaction. Intentions, however, cannot be directly observed and must be inferred from behaviors. We learn a model of adaptive human behavior conditioned on the…
Predicting human intent is challenging yet essential to achieving seamless Human-Robot Collaboration (HRC). Many existing approaches fail to fully exploit the inherent relationships between objects, tasks, and the human model. Current…
Fluent and safe interactions of humans and robots require both partners to anticipate the others' actions. A common approach to human intention inference is to model specific trajectories towards known goals with supervised classifiers.…