相关论文: Human Motion Intent Inferencing in Teleoperation T…

There is a semantic gap between the high-level intents of network operators and the low-level configurations that achieve the intents. Previous works tried to bridge the gap using verification or synthesis techniques, both requiring formal…

Sleep behaviour and in-bed movements contain rich information on the neurophysiological health of people, and have a direct link to the general well-being and quality of life. Standard clinical practices rely on polysomnography for sleep…

Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…

Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…

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…

In this paper, we address the new problem of the prediction of human intents. There is neuro-psychological evidence that actions performed by humans are anticipated by peculiar motor acts which are discriminant of the type of action going…

With the increased importance of autonomous navigation systems has come an increasing need to protect the safety of Vulnerable Road Users (VRUs) such as pedestrians. Predicting pedestrian intent is one such challenging task, where prior…

Predicting pedestrian motion trajectories is critical for path planning and motion control of autonomous vehicles. However, accurately forecasting crowd trajectories remains a challenging task due to the inherently multimodal and uncertain…

Can we infer intentions from a person's actions? As an example problem, here we consider how to decipher what a person is searching for by decoding their eye movement behavior. We conducted two psychophysics experiments where we monitored…

Mobile manipulation is a fundamental capability for general-purpose robotic agents, requiring both coordinated control of the mobile base and manipulator and robust perception under dynamically changing viewpoints. However, existing…

Synthesizing natural human motions that enable a 3D human avatar to walk and reach for arbitrary goals in 3D space remains an unsolved problem with many applications. Existing methods (data-driven or using reinforcement learning) are…

In computer vision, video-based approaches have been widely explored for the early classification and the prediction of actions or activities. However, it remains unclear whether this modality (as compared to 3D kinematics) can still be…

The Sparse Identification of Nonlinear Dynamics (SINDy) framework has been frequently used to discover parsimonious differential equations governing natural and physical systems. This includes recent extensions to SINDy that enable the…

Deictic gestures, like pointing, are a fundamental form of non-verbal communication, enabling humans to direct attention to specific objects or locations. This capability is essential in Human-Robot Interaction (HRI), where robots should be…

Long-term trajectory anomaly detection is a challenging problem due to the diversity and complex spatiotemporal dependencies in trajectory data. Existing trajectory anomaly detection methods fail to simultaneously consider both the…

We propose a real-time method for reactive motion synthesis based on the known trajectory of input character, predicting instant reactions using only historical, user-controlled motions. Our method handles the uncertainty of future…

Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…

While most prior research has focused on improving the precision of multimodal trajectory predictions, the explicit modeling of multimodal behavioral intentions (e.g., yielding, overtaking) remains relatively underexplored. This paper…

Accurate prediction of pedestrian crossing behaviors by autonomous vehicles can significantly improve traffic safety. Existing approaches often model pedestrian behaviors using trajectories or poses but do not offer a deeper semantic…

Deep learning (DL) has enabled impressive advances in robotic perception, yet its limited robustness and lack of interpretability hinder reliable deployment in safety critical applications. We propose a concept termed perceptive shared…