相关论文: Probabilistic Human Intent Prediction for Mobile M…

Predicting the next action that a human is most likely to perform is key to human-AI collaboration and has consequently attracted increasing research interests in recent years. An important factor for next action prediction are human…

The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…

For AI agents to be helpful to humans, they should be able to follow natural language instructions to complete everyday cooperative tasks in human environments. However, real human instructions inherently possess ambiguity, because the…

In real-world scenarios, human dialogues are multi-round and diverse. Furthermore, human instructions can be unclear and human responses are unrestricted. Interactive robots face difficulties in understanding human intents and generating…

Embodied foundation models have achieved significant breakthroughs in robotic manipulation, yet they still depend heavily on large-scale robot demonstrations. Although recent works have explored leveraging human data to alleviate this…

We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…

We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…

Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…

This work addresses human intention identification during physical Human-Robot Interaction (pHRI) tasks to include this information in an assistive controller. To this purpose, human intention is defined as the desired trajectory that the…

Traditional control and planning for robotic manipulation heavily rely on precise physical models and predefined action sequences. While effective in structured environments, such approaches often fail in real-world scenarios due to…

Trustworthiness is a crucial concept in the context of human-robot interaction. Cooperative robots must be transparent regarding their decision-making process, especially when operating in a human-oriented environment. This paper presents a…

Eye movements have long been studied as a window into the attentional mechanisms of the human brain and made accessible as novelty style human-machine interfaces. However, not everything that we gaze upon, is something we want to interact…

A multi-modal framework to generate user intention distributions when operating a mobile vehicle is proposed in this work. The model learns from past observed trajectories and leverages traversability information derived from the visual…

In several application areas, such as human computer interaction, surveillance and defence, determining the intent of a tracked object enables systems to aid the user/operator and facilitate effective, possibly automated, decision making.…

As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…

Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This…

People are proficient at communicating their intentions in order to avoid conflicts when navigating in narrow, crowded environments. In many situations mobile robots lack both the ability to interpret human intentions and the ability to…

Agent assistance during human-human customer support spoken interactions requires triggering workflows based on the caller's intent (reason for call). Timeliness of prediction is essential for a good user experience. The goal is for a…

In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…

Accurate vehicle trajectory prediction is critical for safe and efficient autonomous driving, especially in mixed traffic environments when both human-driven and autonomous vehicles co-exist. However, uncertainties introduced by inherent…