相关论文: Social 3D Scene Graphs: Modeling Human Actions and…

Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment,…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

Human movement is goal-directed and influenced by the spatial layout of the objects in the scene. To plan future human motion, it is crucial to perceive the environment -- imagine how hard it is to navigate a new room with lights off.…

Action recognition is a critical task for social robots to meaningfully engage with their environment. 3D human skeleton-based action recognition is an attractive research area in recent years. Although, the existing approaches are good at…

Current technological advances open up new opportunities for bringing human-machine interaction to a new level of human-centered cooperation. In this context, a key issue is the semantic understanding of the environment in order to enable…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Humans are in constant contact with the world as they move through it and interact with it. This contact is a vital source of information for understanding 3D humans, 3D scenes, and the interactions between them. In fact, we demonstrate…

Humans are able to form a complex mental model of the environment they move in. This mental model captures geometric and semantic aspects of the scene, describes the environment at multiple levels of abstractions (e.g., objects, rooms,…

Collaborative perception in unknown environments is crucial for multi-robot systems. With the emergence of foundation models, robots can now not only perceive geometric information but also achieve open-vocabulary scene understanding.…

3D scene generation seeks to synthesize spatially structured, semantically meaningful, and photorealistic environments for applications such as immersive media, robotics, autonomous driving, and embodied AI. Early methods based on…

Movement is how people interact with and affect their environment. For realistic character animation, it is necessary to synthesize such interactions between virtual characters and their surroundings. Despite recent progress in character…

Images depicting complex, dynamic scenes are challenging to parse automatically, requiring both high-level comprehension of the overall situation and fine-grained identification of participating entities and their interactions. Current…

Mimicking human ability to forecast future positions or interpret complex interactions in urban scenarios, such as streets, shopping malls or squares, is essential to develop socially compliant robots or self-driving cars. Autonomous…

Traditional approaches to human-robot interaction design typically examine robot behaviors in controlled environments and narrow tasks. These methods are impractical for designing robots that interact with diverse user groups in complex…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

As robots become more prevalent, the complexity of robot-robot, robot-human, and robot-environment interactions increases. In these interactions, a robot needs to consider not only the effects of its own actions, but also the effects of…

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.…

We present a fully automatic system that takes a 3D scene and generates plausible 3D human bodies that are posed naturally in that 3D scene. Given a 3D scene without people, humans can easily imagine how people could interact with the scene…

The proliferation of robots in public spaces necessitates a deeper understanding of how these robots can interact with those they share the space with. In this paper, we present findings from video analysis of publicly deployed cleaning…

In this paper, we tackle the task of scene-aware 3D human motion forecasting, which consists of predicting future human poses given a 3D scene and a past human motion. A key challenge of this task is to ensure consistency between the human…