相关论文: A Semantic-Aware Framework for Safe and Intent-Int…
Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…
In recent years, more and more attention has been paid to the learning of 3D human representation. However, the complexity of lots of hand-defined human body constraints and the absence of supervision data limit that the existing works…
In conversational search systems, a key component is to determine and clarify the intent behind complex queries. We view intent clarification in light of the exploratory search paradigm, where users, through an iterative, evolving process…
Self-balancing exoskeletons are a key enabling technology for individuals with mobility impairments. While the current challenges focus on human-compliant hardware and control, unlocking their use for daily activities requires a scene…
Tight coordination is required for effective human-robot teams in domains involving fast dynamics and tactical decisions, such as multi-car racing. In such settings, robot teammates must react to cues of a human teammate's tactical…
In this paper, we investigate the impact of high-level semantics (evaluation of the environment) on Human-Robot Teams (HRT) and Human-Robot Interaction (HRI) in the context of mobile robot deployments. Although semantics has been widely…
Real-time and contactless monitoring of vital signs, such as respiration and heartbeat, alongside reliable communication, is essential for modern healthcare systems, especially in remote and privacy-sensitive environments. Traditional…
One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…
Assistive robotic devices, like soft lower-limb exoskeletons or exosuits, are widely spreading with the promise of helping people in everyday life. To make such systems adaptive to the variety of users wearing them, it is desirable to endow…
Humans have a natural ability to perform semantic associations with the surrounding objects in the environment. This allows them to create a mental map of the environment, allowing them to navigate on-demand when given linguistic…
Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…
Generalizable articulated object manipulation is essential for home-assistant robots. Recent efforts focus on imitation learning from demonstrations or reinforcement learning in simulation, however, due to the prohibitive costs of…
Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…
We are currently observing emerging solutions to enable the Internet of Things (IoT). Efficient and feature rich IoT middeware platforms are key enablers for IoT. However, due to complexity, most of these middleware platforms are designed…
Semantic communication systems aim to transmit task-relevant information between devices capable of artificial intelligence, but their performance can degrade when heterogeneous transmitter-receiver models produce misaligned latent…
Intent detection and slot filling are two main tasks for building a spoken language understanding(SLU) system. Multiple deep learning based models have demonstrated good results on these tasks . The most effective algorithms are based on…
This paper proposes a user semantic intent modeling algorithm based on Capsule Networks to address the problem of insufficient accuracy in intent recognition for human-computer interaction. The method represents semantic features in input…
Robots in human-centered environments require accurate scene understanding to perform high-level tasks effectively. This understanding can be achieved through instance-aware semantic mapping, which involves reconstructing elements at the…
Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…
People judge interactions with large language models (LLMs) as successful when outputs match what they want, not what they type. Yet LLMs are trained to predict the next token solely from text input, not underlying intent. Because written…