相关论文: AIRoA MoMa Dataset: A Large-Scale Hierarchical Dat…

Developing autonomous home robots controlled by natural language has long been a pursuit of humanity. While advancements in large language models (LLMs) and embodied intelligence make this goal closer, several challenges persist: the lack…

Existing human-robot interaction systems often lack mechanisms for sustained personalization and dynamic adaptation in multi-user environments, limiting their effectiveness in real-world deployments. We present HARMONI, a multimodal…

This paper addresses the gap in predicting turn-taking and backchannel actions in human-machine conversations using multi-modal signals (linguistic, acoustic, and visual). To overcome the limitation of existing datasets, we propose an…

Understanding how humans interact with each other is key to building realistic multi-human virtual reality systems. This area remains relatively unexplored due to the lack of large-scale datasets. Recent datasets focusing on this issue…

Humans rely on multisensory integration to perceive spatial environments, where auditory cues enable sound source localization in three-dimensional space. Despite the critical role of spatial audio in immersive technologies such as VR/AR,…

Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…

Despite growing interest in active inference for robotic control, its application to complex, long-horizon tasks remains untested. We address this gap by introducing a fully hierarchical active inference architecture for goal-directed…

Fleets of autonomous robots are increasingly deployed with multiple human operators in communication-restricted environments for exploration and intervention tasks such as subterranean inspection, reconnaissance, and search-and-rescue. In…

This study investigates the use of large language models (LLMs) for human behavior understanding by jointly leveraging motion and video data. We argue that integrating these complementary modalities is essential for capturing both…

Building robots that can automate labor-intensive tasks has long been the core motivation behind the advancements in computer vision and the robotics community. Recent interest in leveraging 3D algorithms, particularly neural fields, has…

Despite the recent advancements in robotics and machine learning (ML), the deployment of autonomous robots in our everyday lives is still an open challenge. This is due to multiple reasons among which are their frequent mistakes, such as…

Large Language Models (LLMs) face a crucial challenge from fixed context windows and inadequate memory management, leading to a severe shortage of long-term memory capabilities and limited personalization in the interactive experience with…

We present a dataset with models of 14 articulated objects commonly found in human environments and with RGB-D video sequences and wrenches recorded of human interactions with them. The 358 interaction sequences total 67 minutes of human…

We address key limitations in existing datasets and models for task-oriented hand-object interaction video generation, a critical approach of generating video demonstrations for robotic imitation learning. Current datasets, such as Ego4D,…

Unmanned surface vehicles can encounter a number of varied visual circumstances during operation, some of which can be very difficult to interpret. While most cases can be solved only using color camera images, some weather and lighting…

To fluently collaborate with people, robots need the ability to recognize human activities accurately. Although modern robots are equipped with various sensors, robust human activity recognition (HAR) still remains a challenging task for…

Embodied intelligence seamlessly integrates vision, language, and action.~However, most multimodal robotic models rely on massive fine-tuning, incurring high time and hardware costs.~To address this, we introduce RoboBERT, an end-to-end…

Humanoid activities involving sequential contacts are crucial for complex robotic interactions and operations in the real world and are traditionally solved by model-based motion planning, which is time-consuming and often relies on…

The quadratic computational complexity of MultiHead SelfAttention (MHSA) remains a fundamental bottleneck in scaling Large Language Models (LLMs) for longcontext tasks. While sparse and linearized attention mechanisms attempt to mitigate…

Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten…