相关论文: Predicting human motion intention for pHRI assisti…

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…

We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing…

The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…

This work aims to tackle the intent recognition problem in Human-Robot Collaborative assembly scenarios. Precisely, we consider an interactive assembly of a wooden stool where the robot fetches the pieces in the correct order and the human…

In this paper, we introduce a novel conceptual model for a robot's behavioral adaptation in its long-term interaction with humans, integrating dynamic robot role adaptation with principles of flow experience from psychology. This…

In this paper, a driver's intention prediction near a road intersection is proposed. Our approach uses a deep bidirectional Long Short-Term Memory (LSTM) with an attention mechanism model based on a hybrid-state system (HSS) framework. As…

Imagine if AI decision-support tools not only complemented our ability to make accurate decisions, but also improved our skills, boosted collaboration, and elevated the joy we derive from our tasks. Despite the potential to optimize a broad…

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…

Human action recognition is an important task in computer vision. Extracting discriminative spatial and temporal features to model the spatial and temporal evolutions of different actions plays a key role in accomplishing this task. In this…

In collaborative human-robot manipulation, a robot must predict human intents and adapt its actions accordingly to smoothly execute tasks. However, the human's intent in turn depends on actions the robot takes, creating a chicken-or-egg…

Estimating individualized treatment rules (ITRs) is fundamental to precision medicine, where the goal is to tailor treatment decisions to individual patient characteristics. While numerous methods have been developed for ITR estimation,…

In this paper, we aim to address the problem of human interaction recognition in videos by exploring the long-term inter-related dynamics among multiple persons. Recently, Long Short-Term Memory (LSTM) has become a popular choice to model…

In this paper, we propose a human trajectory prediction model that combines a Long Short-Term Memory (LSTM) network with an attention mechanism. To do that, we use attention scores to determine which parts of the input data the model should…

Human motion prediction aims to forecast an upcoming pose sequence given a past human motion trajectory. To address the problem, in this work we propose FreqMRN, a human motion prediction framework that takes into account both the kinematic…

This paper introduces a new generative deep learning network for human motion synthesis and control. Our key idea is to combine recurrent neural networks (RNNs) and adversarial training for human motion modeling. We first describe an…

Sensor-based human activity recognition (HAR) requires to predict the action of a person based on sensor-generated time series data. HAR has attracted major interest in the past few years, thanks to the large number of applications enabled…

In the field of Human-Robot Interaction (HRI), a fundamental challenge is to facilitate human understanding of robots. The emerging domain of eXplainable HRI (XHRI) investigates methods to generate explanations and evaluate their impact on…

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…

Robots operating in human-shared environments must not only achieve task-level navigation objectives such as safety and efficiency, but also adapt their behavior to human preferences. However, as human preferences are typically expressed in…

Large-scale pre-training has fundamentally changed how machine learning research is done today: large foundation models are trained once, and then can be used by anyone in the community (including those without data or compute resources to…