相关论文: Pointing-Guided Target Estimation via Transformer-…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation.…

What constitutes an object? This has been a long-standing question in computer vision. Towards this goal, numerous learning-free and learning-based approaches have been developed to score objectness. However, they generally do not scale…

Dextrous in-hand manipulation with a multi-fingered robotic hand is a challenging task, esp. when performed with the hand oriented upside down, demanding permanent force-closure, and when no external sensors are used. For the task of…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

This paper focuses on building object-centric representations for long-term action anticipation in videos. Our key motivation is that objects provide important cues to recognize and predict human-object interactions, especially when the…

Transformers are built upon multi-head scaled dot-product attention and positional encoding, which aim to learn the feature representations and token dependencies. In this work, we focus on enhancing the distinctive representation by…

Intention prediction has become a relevant field of research in Human-Machine and Human-Robot Interaction. Indeed, any artificial system (co)-operating with and along humans, designed to assist and coordinate its actions with a human…

Human-object interaction is one of the most important visual cues and we propose a novel way to represent human-object interactions for egocentric action anticipation. We propose a novel transformer variant to model interactions by…

Human-Machine Interaction (HMI) systems have gained huge interest in recent years, with reference expression comprehension being one of the main challenges. Traditionally human-machine interaction has been mostly limited to speech and…

Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

Existing methods enhance the training of detection transformers by incorporating an auxiliary one-to-many assignment. In this work, we treat the model as a multi-task framework, simultaneously performing one-to-one and one-to-many…

Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…

Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…

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…

Human state recognition is a critical topic with pervasive and important applications in human-machine systems. Multi-modal fusion, the combination of metrics from multiple data sources, has been shown as a sound method for improving the…

Successful adoption of industrial robots will strongly depend on their ability to safely and efficiently operate in human environments, engage in natural communication, understand their users, and express intentions intuitively while…

This study investigates multimodal turn-taking prediction within human-agent interactions (HAI), particularly focusing on cooperative gaming environments. It comprises both model development and subsequent user study, aiming to refine our…

Intent recognition aims to identify users' underlying intentions, traditionally focusing on text in natural language processing. With growing demands for natural human-computer interaction, the field has evolved through deep learning and…