相关论文: Classification of assembly tasks combining multipl…

Manufacturing assembly tasks can vary in complexity and level of automation. Yet, achieving full automation can be challenging and inefficient, particularly due to the complexity of certain assembly operations. Human-robot collaborative…

Collaborative robots are increasingly present in industry to support human activities. However, to make the human-robot collaborative process more effective, there are several challenges to be addressed. Collaborative robotic systems need…

In recent years, there has been a trend in the field of Reinforcement Learning (RL) towards large action models trained offline on large-scale datasets via sequence modeling. Existing models are primarily based on the Transformer…

We propose a novel multi-modal and multi-task architecture for simultaneous low level gesture and surgical task classification in Robot Assisted Surgery (RAS) videos.Our end-to-end architecture is based on the principles of a long…

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…

In recent years, human activity recognition has garnered considerable attention both in industrial and academic research because of the wide deployment of sensors, such as accelerometers and gyroscopes, in products such as smartphones and…

This paper presents an innovative application of Transformer-XL for long sequence tasks in robotic learning from demonstrations (LfD). The proposed framework effectively integrates multi-modal sensor inputs, including RGB-D images, LiDAR,…

To effectively assist human workers in assembly tasks a robot must proactively offer support by inferring their preferences in sequencing the task actions. Previous work has focused on learning the dominant preferences of human workers for…

Effective human-robot collaboration depends on task-oriented handovers, where robots present objects in ways that support the partners intended use. However, many existing approaches neglect the humans post-handover action, relying on…

Algorithms for the action segmentation task typically use temporal models to predict what action is occurring at each frame for a minute-long daily activity. Recent studies have shown the potential of Transformer in modeling the relations…

Accurate vehicle trajectory prediction is crucial for ensuring safe and efficient autonomous driving. This work explores the integration of Transformer based model with Long Short-Term Memory (LSTM) based technique to enhance spatial and…

Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…

Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to execution errors. Accurately simulating these tasks is also…

Learning from spatio-temporal data has numerous applications such as human-behavior analysis, object tracking, video compression, and physics simulation.However, existing methods still perform poorly on challenging video tasks such as…

Recently, deep learning (DL) methods have been introduced very successfully into human activity recognition (HAR) scenarios in ubiquitous and wearable computing. Especially the prospect of overcoming the need for manual feature design…

As collaborative robots (cobots) continue to gain popularity in industrial manufacturing, effective human-robot collaboration becomes crucial. Cobots should be able to recognize human actions to assist with assembly tasks and act…

Recent advancements in autoregressive networks with linear complexity have driven significant research progress, demonstrating exceptional performance in large language models. A representative model is the Extended Long Short-Term Memory…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

Robots learning a new manipulation task from a small amount of demonstrations are increasingly demanded in different workspaces. A classifier model assessing the quality of actions can predict the successful completion of a task, which can…

Various human activities can be abstracted into a sequence of actions in natural text, i.e. cooking, repairing, manufacturing, etc. Such action sequences heavily depend on the executing order, while disorder in action sequences leads to…