相关论文: WhACC: Whisker Automatic Contact Classifier with E…
In many learning settings, it is beneficial to augment the main features with pairwise interactions. Such interaction models can be often enhanced by performing variable selection under the so-called strong hierarchy constraint: an…
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…
Automatic action identification from video and kinematic data is an important machine learning problem with applications ranging from robotics to smart health. Most existing works focus on identifying coarse actions such as running,…
Vision based and event based tactile sensors are important in robotic manipulation research. However, they suffer from a fundamental tradeoff: vision based sensors have low sampling rates, while event based sensors are prone to drift during…
Human-Object Interaction (HOI) detection aims to localize human-object pairs and recognize their interactions. Recently, Contrastive Language-Image Pre-training (CLIP) has shown great potential in providing interaction prior for HOI…
We propose Hi4D, a method and dataset for the automatic analysis of physically close human-human interaction under prolonged contact. Robustly disentangling several in-contact subjects is a challenging task due to occlusions and complex…
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…
A core challenge for the brain is to process information across various timescales. This could be achieved by a hierarchical organization of temporal processing through intrinsic mechanisms (e.g., recurrent coupling or adaptation), but…
Video-based visual relation detection tasks, such as video scene graph generation, play important roles in fine-grained video understanding. However, current video visual relation detection datasets have two main limitations that hinder the…
Using drones to track multiple individuals simultaneously in their natural environment is a powerful approach for better understanding group primate behavior. Previous studies have demonstrated that it is possible to automate the…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
Wearable Cognitive Assistance (WCA) applications present a challenge to benchmark and characterize due to their human-in-the-loop nature. Employing user testing to optimize system parameters is generally not feasible, given the scope of the…
We demonstrate that carefully adjusting the tokenizer of the Whisper speech recognition model significantly improves the precision of word-level timestamps when applying dynamic time warping to the decoder's cross-attention scores. We…
Despite the notable progress made in action recognition tasks, not much work has been done in action recognition specifically for human-robot interaction. In this paper, we deeply explore the characteristics of the action recognition task…
With the development of Integrated Sensing and Communication (ISAC) for Sixth-Generation (6G) wireless systems, contactless human recognition has emerged as one of the key application scenarios. Since human gesture motion induces subtle and…
Hand gesture recognition (HGR) is a vital component in enhancing the human-computer interaction experience, particularly in multimedia applications, such as virtual reality, gaming, smart home automation systems, etc. Users can control and…
Dynamic balancing under uncertain disturbances is important for a humanoid robot, which requires a good capability of coordinating the entire body redundancy to execute multi tasks. Whole-body control (WBC) based on hierarchical…
Robust robot manipulation in unstructured environments often requires understanding object properties that extend beyond geometry, such as material or compliance-properties that can be challenging to infer using vision alone. Multimodal…
Decoding continuous speech from intracortical recordings is a central challenge for brain-computer interfaces (BCIs), with transformative potential for individuals with conditions that impair their ability to speak. While recent…
Understanding human actions in wild videos is an important task with a broad range of applications. In this paper we propose a novel approach named Hierarchical Attention Network (HAN), which enables to incorporate static spatial…