相关论文: Teaching Unknown Objects by Leveraging Human Gaze …

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

Deep learning often requires the manual collection and annotation of a training set. On robotic platforms, can we partially automate this task by training the robot to be curious, i.e., to seek out beneficial training information in the…

Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…

This paper presents a novel framework for accessible and pedagogically-grounded robot explainability, designed to support human-robot interaction (HRI) with users who have diverse cognitive, communicative, or learning needs. We combine…

Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…

A fundamental challenge in teaching robots is to provide an effective interface for human teachers to demonstrate useful skills to a robot. This challenge is exacerbated in dexterous manipulation, where teaching high-dimensional,…

Since the first AI-HRI held at the 2014 AAAI Fall Symposium Series, a lot of the presented research and discussions have emphasized how artificial intelligence (AI) developments can benefit human-robot interaction (HRI). This portrays HRI…

The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers typically lack of such communication skills. This study investigates…

Reasoning the human-object interactions (HOI) is essential for deeper scene understanding, while object affordances (or functionalities) are of great importance for human to discover unseen HOIs with novel objects. Inspired by this, we…

Virtual Reality (VR) interfaces are increasingly used as remote visualization media in telerobotics. Remote environments captured through RGB-D cameras and visualized using VR interfaces can enhance operators' situational awareness and…

Vision-based autonomous driving through imitation learning mimics the behaviors of human drivers by training on pairs of data of raw driver-view images and actions. However, there are other cues, e.g. gaze behavior, available from human…

Human-Object Interaction (HOI) detection aims to simultaneously localize human-object pairs and recognize their interactions. While recent two-stage approaches have made significant progress, they still face challenges due to incomplete…

While recent deep neural networks have achieved a promising performance on object recognition, they rely implicitly on the visual contents of the whole image. In this paper, we train deep neural net- works on the foreground (object) and…

The rising interest of generalist robots seek to create robots with versatility to handle multiple tasks in a variety of environments, and human will interact with such robots through immersive interfaces. In the context of human-robot…

Routine inspections for critical infrastructures such as bridges are required in most jurisdictions worldwide. Such routine inspections are largely visual in nature, which are qualitative, subjective, and not repeatable. Although robotic…

Enabling humans and robots to collaborate effectively requires purposeful communication and an understanding of each other's affordances. Prior work in human-robot collaboration has incorporated knowledge of human affordances, i.e., their…

We explore new aspects of assistive living on smart human-robot interaction (HRI) that involve automatic recognition and online validation of speech and gestures in a natural interface, providing social features for HRI. We introduce a…

In recent years, a number of models that learn the relations between vision and language from large datasets have been released. These models perform a variety of tasks, such as answering questions about images, retrieving sentences that…