相关论文: GIMO: Gaze-Informed Human Motion Prediction in Con…
Motion prediction in unstructured environments is a difficult problem and is essential for safe and efficient human-robot space sharing and collaboration. In this work, we focus on manipulation movements in environments such as homes,…
Estimating human gaze target from visible images is a critical task for robots to understand human attention, yet the development of generalizable neural architectures and training paradigms remains challenging. While recent advances in…
To address this gap, we conduct a Virtual Reality experiment in which pedestrians interact with automated shuttles under varying approach angles (45{\deg}, 90{\deg}, 135{\deg}) and continuous-traffic conditions (single shuttle, two shuttles…
Predicting the future trajectory of agents from visual observations is an important problem for realization of safe and effective navigation of autonomous systems in dynamic environments. This paper focuses on two important aspects of…
Human eye gaze estimation is an important cognitive ingredient for successful human-robot interaction, enabling the robot to read and predict human behavior. We approach this problem using artificial neural networks and build a modular…
Eye movements play a vital role in perceiving the world. Eye gaze can give a direct indication of the users point of attention, which can be useful in improving human-computer interaction. Gaze estimation in a non-intrusive manner can make…
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…
Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…
The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations, future predictions, and goal information to…
The human gaze is an important cue to signal intention, attention, distraction, and the regions of interest in the immediate surroundings. Gaze tracking can transform how robots perceive, understand, and react to people, enabling new modes…
When intelligent agents learn visuomotor behaviors from human demonstrations, they may benefit from knowing where the human is allocating visual attention, which can be inferred from their gaze. A wealth of information regarding intelligent…
A promising effective human-robot interaction in assistive robotic systems is gaze-based control. However, current gaze-based assistive systems mainly help users with basic grasping actions, offering limited support. Moreover, the…
Complex scenes present significant challenges for predicting human behaviour due to the abundance of interaction information, such as human-human and humanenvironment interactions. These factors complicate the analysis and understanding of…
Enabling robots to understand human gaze target is a crucial step to allow capabilities in downstream tasks, for example, attention estimation and movement anticipation in real-world human-robot interactions. Prior works have addressed the…
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.…
Assistive visual navigation systems for visually impaired individuals have become increasingly popular thanks to the rise of mobile computing. Most of these devices work by translating visual information into voice commands. In complex…
Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing practical frameworks that enable mobile manipulators to…
Designing intuitive interfaces for robotic control remains a central challenge in enabling effective human-robot interaction, particularly in assistive care settings. Eye gaze offers a fast, non-intrusive, and intent-rich input modality,…
Understanding the human-object interactions (HOIs) from a video is essential to fully comprehend a visual scene. This line of research has been addressed by detecting HOIs from images and lately from videos. However, the video-based HOI…
Human motion prediction aims to forecast future human poses given a historical motion. Whether based on recurrent or feed-forward neural networks, existing learning based methods fail to model the observation that human motion tends to…