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Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…

Human-object interaction (HOI) detection as a downstream of object detection tasks requires localizing pairs of humans and objects and extracting the semantic relationships between humans and objects from an image. Recently, one-stage…

For some years now, the use of social, anthropomorphic robots in various situations has been on the rise. These are robots developed to interact with humans and are equipped with corresponding extremities. They already support human users…

Human-robot interaction (HRI) encompasses a wide range of collaborative tasks, with handover being one of the most fundamental. As robots become more integrated into human environments, the potential for service robots to assist in handing…

Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…

Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…

Generalized robots must learn from diverse, large-scale human-object interactions (HOI) to operate robustly in the real world. Monocular internet videos offer a nearly limitless and readily available source of data, capturing an…

With the ongoing efforts to empower people with mobility impairments and the increase in technological acceptance by the general public, assistive technologies, such as collaborative robotic arms, are gaining popularity. Yet, their…

In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…

Hierarchical Reinforcement Learning (HRL) allows interactive agents to decompose complex problems into a hierarchy of sub-tasks. Higher-level tasks can invoke the solutions of lower-level tasks as if they were primitive actions. In this…

Robots have become ubiquitous tools in various industries and households, highlighting the importance of human-robot interaction (HRI). This has increased the need for easy and accessible communication between humans and robots. Recent…

Hand-object interaction (HOI) is fundamental for humans to express intent. Existing HOI generation research is predominantly confined to fixed grasping patterns, where control is tied to physical priors such as force closure or generic…

Human-robot collaboration (HRC) has become increasingly relevant in industrial, household, and commercial settings. However, the effectiveness of such collaborations is highly dependent on the human and robots' situational awareness of the…

Interpreting human intent accurately is a central challenge in human-robot interaction (HRI) and a key requirement for achieving more natural and intuitive collaboration between humans and machines. This work presents a novel multimodal HRI…

This study explores human-robot interaction (HRI) based on a mobile robot and YOLO to increase real-time situation awareness and prevent accidents in the workplace. Using object segmentation, we propose an approach that is capable of…

The Human-Object Interaction (HOI) task explores the dynamic interactions between humans and objects in physical environments, providing essential biomechanical and cognitive-behavioral foundations for fields such as robotics, virtual…

Learning dexterous manipulation from human-object interaction (HOI) data is a scalable alternative to teleoperation, but HOI demonstrations are sparse and provide only kinematic motion that is not directly executable under embodiment…

Human-object interaction (HOI) detection aims to localize human-object pairs and the interactions between them. Existing methods operate under a closed-world assumption, treating the task as a classification problem over a small, predefined…

Hand-Object Interactions (HOIs) are conditioned on spatial and temporal contexts like surrounding objects, previous actions, and future intents (for example, grasping and handover actions vary greatly based on objects proximity and…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…