相关论文: Motron: Multimodal Probabilistic Human Motion Fore…

Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case…

Collaborative manipulation is inherently multimodal, with haptic communication playing a central role. When performed by humans, it involves back-and-forth force exchanges between the participants through which they resolve possible…

To enable a natural and fluent human robot collaboration flow, it is critical for a robot to comprehend their human peers' on-going actions, predict their behaviors in the near future, and plan its actions correspondingly. Specifically, the…

For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…

Humans have an impressive ability to solve complex coordination problems in a fully distributed manner. This ability, if learned as a set of distributed multirobot coordination strategies, can enable programming large groups of robots to…

Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…

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…

This report reviews recent advancements in human motion prediction, reconstruction, and generation. Human motion prediction focuses on forecasting future poses and movements from historical data, addressing challenges like nonlinear…

The precise prediction of human mobility has produced significant socioeconomic impacts, such as location recommendations and evacuation suggestions. However, existing methods suffer from limited generalization capability: unimodal…

In this paper, we aim at improving human motion prediction during human-robot collaboration in industrial facilities by exploiting contributions from both physical and physiological signals. Improved human-machine collaboration could prove…

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…

Humanoid robots, with their human-like embodiment, have the potential to integrate seamlessly into human environments. Critical to their coexistence and cooperation with humans is the ability to understand natural language communications…

We study the analysis of all the movements of the population on the basis of their mobility from one node to another, to observe, measure, and predict the impact of traffic according to this mobility. The frequency of congestion on roads…

This paper proposes an algorithm for motion planning among dynamic agents using adaptive conformal prediction. We consider a deterministic control system and use trajectory predictors to predict the dynamic agents' future motion, which is…

This paper presents a novel vehicle motion forecasting method based on multi-head attention. It produces joint forecasts for all vehicles on a road scene as sequences of multi-modal probability density functions of their positions. Its…

This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…

Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…

We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…

Human motion prediction is essential for tasks such as human motion analysis and human-robot interactions. Most existing approaches have been proposed to realize motion prediction. However, they ignore an important task, the evaluation of…

This paper proposes a novel metric for Human Motion Prediction (HMP). Since a single past sequence can lead to multiple possible futures, a probabilistic HMP method predicts such multiple motions. While a single motion predicted by a…