相关论文: Learning reusable concepts across different egocen…

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

Multi-Task Learning is a learning paradigm that uses correlated tasks to improve performance generalization. A common way to learn multiple tasks is through the hard parameter sharing approach, in which a single architecture is used to…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

The rapid evolution of egocentric video analysis brings new insights into understanding human activities and intentions from a first-person perspective. Despite this progress, the fragmentation in tasks like action recognition, procedure…

Humans have consciousness as the ability to perceive events and objects: a mental model of the world developed from the most impoverished of visual stimuli, enabling humans to make rapid decisions and take actions. Although spatial and…

We present a method for learning multiple scene representations given a small labeled set, by exploiting the relationships between such representations in the form of a multi-task hypergraph. We also show how we can use the hypergraph to…

Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team…

Human activity recognition is typically addressed by detecting key concepts like global and local motion, features related to object classes present in the scene, as well as features related to the global context. The next open challenges…

For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…

Recently, end-to-end learning frameworks are gaining prevalence in the field of robot control. These frameworks input states/images and directly predict the torques or the action parameters. However, these approaches are often critiqued due…

Imitation learning is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…

The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for…

Successful human-robot teaming will require robots to adapt autonomously to a human teammate's internal state, where a critical element of such adaptation is the ability to estimate the human's workload in unknown situations. Existing…

The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…

Egocentric video is increasingly used as a data source for robot learning, activity understanding, and embodied AI research, but collecting it at scale remains fragmented in practice: each candidate host device, such as an Android phone,…

How can deep learning systems flexibly reuse their knowledge? Toward this goal, we propose a new class of challenges, and a class of architectures that can solve them. The challenges are meta-mappings, which involve systematically…

With vast amounts of video content being uploaded to the Internet every minute, video summarization becomes critical for efficient browsing, searching, and indexing of visual content. Nonetheless, the spread of social and egocentric cameras…

In this work, we introduce a novel method to learn everyday-like multi-stage tasks from a single human demonstration, without requiring any prior object knowledge. Inspired by the recent Coarse-to-Fine Imitation Learning method, we model…