相关论文: Learning Physical Interaction Skills from Human De…

To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner.…

Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…

This paper presents a learning-from-demonstration (LfD) framework for teaching human-robot social interactions that involve whole-body haptic interaction, i.e. direct human-robot contact over the full robot body. The performance of existing…

Humans interact with objects all the time. Enabling a humanoid to learn human-object interaction (HOI) is a key step for future smart animation and intelligent robotics systems. However, recent progress in physics-based HOI requires…

Simulating realistic interaction and motions for physics-based characters is of great interest for interactive applications, and automatic secondary character animation in the movie and video game industries. Recent works in reinforcement…

The reasoning capabilities of embodied agents introduce a critical, under-explored inferential privacy challenge, where the risk of an agent generate sensitive conclusions from ambient data. This capability creates a fundamental tension…

Humanoid robots are envisioned as embodied intelligent agents capable of performing a wide range of human-level loco-manipulation tasks, particularly in scenarios requiring strenuous and repetitive labor. However, learning these skills is…

Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Embodiment is an important characteristic for all intelligent agents (creatures and robots), while existing scene description tasks mainly focus on analyzing images passively and the semantic understanding of the scenario is separated from…

Artificial agents, particularly humanoid robots, interact with their environment, objects, and people using cameras, actuators, and physical presence. Their communication methods are often pre-programmed, limiting their actions and…

Human-robot interaction is increasingly moving toward multi-robot, socially grounded environments. Existing systems struggle to integrate multimodal perception, embodied expression, and coordinated decision-making in a unified framework.…

The incredible feats of athleticism demonstrated by humans are made possible in part by a vast repertoire of general-purpose motor skills, acquired through years of practice and experience. These skills not only enable humans to perform…

This paper describes our research on AI agents embodied in visual, virtual or physical forms, enabling them to interact with both users and their environments. These agents, which include virtual avatars, wearable devices, and robots, are…

Traditional reinforcement learning methods for human-object interaction (HOI) rely on labor-intensive, manually designed skill rewards that do not generalize well across different interactions. We introduce SkillMimic, a unified data-driven…

Human activity recognition in videos has been widely studied and has recently gained significant advances with deep learning approaches; however, it remains a challenging task. In this paper, we propose a novel framework that simultaneously…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Imitation learning from human demonstrations offers a promising approach for robot skill acquisition, but egocentric human data introduces fundamental challenges due to the embodiment gap. During manipulation, humans actively coordinate…

There is a growing need for social robots and intelligent agents that can effectively interact with and support users. For the interactions to be seamless, the agents need to analyse social scenes and behavioural cues from their (robot's)…