相关论文: Learning Multimodal Confidence for Intention Recog…

The ability to communicate intention enables decentralized multi-agent robots to collaborate while performing physical tasks. In this work, we present spatial intention maps, a new intention representation for multi-agent vision-based deep…

Multimodal pretraining is an effective strategy for the trinity of goals of representation learning in autonomous robots: 1) extracting both local and global task progressions; 2) enforcing temporal consistency of visual representation; 3)…

It is crucial for any assistive robot to prioritize the autonomy of the user. For a robot working in a task setting to effectively maintain a user's autonomy it must provide timely assistance and make accurate decisions. We use four…

This paper presents a method for constructing human-robot interaction policies in settings where multimodality, i.e., the possibility of multiple highly distinct futures, plays a critical role in decision making. We are motivated in this…

Speech emotion recognition is a challenging problem because human convey emotions in subtle and complex ways. For emotion recognition on human speech, one can either extract emotion related features from audio signals or employ speech…

Recent efforts on training visual navigation agents conditioned on language using deep reinforcement learning have been successful in learning policies for different multimodal tasks, such as semantic goal navigation and embodied question…

This study investigates how adequate coordination among the different cognitive processes of a humanoid robot can be developed through end-to-end learning of direct perception of visuomotor stream. We propose a deep dynamic neural network…

As medical diagnoses increasingly leverage multimodal data, machine learning models are expected to effectively fuse heterogeneous information while remaining robust to missing modalities. In this work, we propose a novel multimodal…

Human behavior expression and experience are inherently multi-modal, and characterized by vast individual and contextual heterogeneity. To achieve meaningful human-computer and human-robot interactions, multi-modal models of the users…

Although in the literature it is common to find predictors and inference systems that try to predict human intentions, the uncertainty of these models due to the randomness of human behavior has led some authors to start advocating the use…

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…

Classification using multimodal data arises in many machine learning applications. It is crucial not only to model cross-modal relationship effectively but also to ensure robustness against loss of part of data or modalities. In this paper,…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

In this work, we aim to improve transparency and efficacy in human-robot collaboration by developing machine teaching algorithms suitable for groups with varied learning capabilities. While previous approaches focused on tailored approaches…

Humans express their emotions via facial expressions, voice intonation and word choices. To infer the nature of the underlying emotion, recognition models may use a single modality, such as vision, audio, and text, or a combination of…

Turn-taking, aiming to decide when the next speaker can start talking, is an essential component in building human-robot spoken dialogue systems. Previous studies indicate that multimodal cues can facilitate this challenging task. However,…

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…

Existing robotic manipulation methods primarily rely on visual and proprioceptive observations, which may struggle to infer contact-related interaction states in partially observable real-world environments. Acoustic cues, by contrast,…

This paper proposes a novel multimodal fusion approach, aiming to produce best possible decisions by integrating information coming from multiple media. While most of the past multimodal approaches either work by projecting the features of…

Large language models (LLMs) are increasingly grounded in sensor data to perceive and reason about human physiology and the physical world. However, accurately interpreting heterogeneous multimodal sensor data remains a fundamental…