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

Humanoid locomotion is a challenging task due to its inherent complexity and high-dimensional dynamics, as well as the need to adapt to diverse and unpredictable environments. In this work, we introduce a novel learning framework for…

Scene understanding and object recognition is a difficult to achieve yet crucial skill for robots. Recently, Convolutional Neural Networks (CNN), have shown success in this task. However, there is still a gap between their performance on…

In mixed-traffic environments, autonomous vehicles (AVs) must interact with heterogeneous human-driven vehicles (HVs) whose intentions and driving styles vary across individuals and scenarios. Such variability introduces uncertainty into…

Human motion modelling is a classical problem at the intersection of graphics and computer vision, with applications spanning human-computer interaction, motion synthesis, and motion prediction for virtual and augmented reality. Following…

Personalized motion planning holds significant importance within urban automated driving, catering to the unique requirements of individual users. Nevertheless, prior endeavors have frequently encountered difficulties in simultaneously…

This paper proposes an intent-aware multi-agent planning framework as well as a learning algorithm. Under this framework, an agent plans in the goal space to maximize the expected utility. The planning process takes the belief of other…

To plan safe and comfortable trajectories for automated vehicles on highways, accurate predictions of traffic situations are needed. So far, a lot of research effort has been spent on detecting lane change maneuvers rather than on…

Recommender systems objectives can be broadly characterized as modeling user preferences over short-or long-term time horizon. A large body of previous research studied long-term recommendation through dimensionality reduction techniques…

Handovers frequently occur in our social environments, making it imperative for a collaborative robotic system to master the skill of handover. In this work, we aim to investigate the relationship between the grip force variation for a…

The need for an intelligent, real-time spoilage prediction system has become critical in modern IoT-driven food supply chains, where perishable goods are highly susceptible to environmental conditions. Existing methods often lack…

Designing robotic assistance devices for manipulation tasks is challenging. This work is concerned with improving accuracy and usability of semi-autonomous robots, such as human operated manipulators or exoskeletons. The key insight is to…

As robots are becoming more and more ubiquitous in human environments, it will be necessary for robotic systems to better understand and predict human actions. However, this is not an easy task, at times not even for us humans, but based on…

Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to other agents. In this work, we present a method for…

Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, end-effector dexterity, and contact-aware interaction under frequent contact…

Human Pose (HP) estimation is actively researched because of its wide range of applications. However, even estimators pre-trained on large datasets may not perform satisfactorily due to a domain gap between the training and test data. To…

Pretrained large language models (LLMs) can work as high-level robotic planners by reasoning over abstract task descriptions and natural language instructions, etc. However, they have shown a lack of knowledge and effectiveness in planning…

Latent space representations are critical for understanding and improving the behavior of machine learning models, yet they often remain obscure and intricate. Understanding and exploring the latent space has the potential to contribute…

Human motion prediction is a necessary component for many applications in robotics and autonomous driving. Recent methods propose using sequence-to-sequence deep learning models to tackle this problem. However, they do not focus on…

Model alignment with human preferences is an essential step in making Large Language Models (LLMs) helpful and consistent with human values. It typically consists of supervised fine-tuning (SFT) and reinforcement learning from human…

The architecture described in this paper encodes a theory of intentions based on the the key principles of non-procrastination, persistence, and automatically limiting reasoning to relevant knowledge and observations. The architecture…