相关论文: Learning Whole-Body Human-Humanoid Interaction fro…

Accurately modeling detailed interactions between human/hand and object is an appealing yet challenging task. Current multi-view capture systems are only capable of reconstructing multiple subjects into a single, unified mesh, which fails…

Current Human-Robot Interaction (HRI) systems for skill teaching are fragmented, and existing approaches in the literature do not offer a cohesive framework that is simultaneously efficient, intuitive, and universally safe. This paper…

While large-scale human motion capture datasets have advanced human motion generation, modeling and generating dynamic 3D human-object interactions (HOIs) remain challenging due to dataset limitations. Existing datasets often lack…

The true promise of humanoid robotics lies beyond single-agent autonomy: two or more humanoids must engage in physically grounded, socially meaningful whole-body interactions that echo the richness of human social interaction. However,…

Human object interaction (HOI) detection is an important task in image understanding and reasoning. It is in a form of HOI triplet <human; verb; object>, requiring bounding boxes for human and object, and action between them for the task…

Human-object interaction (HOI) detection as a downstream of object detection tasks requires localizing pairs of humans and objects and extracting the semantic relationships between humans and objects from an image. Recently, one-stage…

Testing humanoid robots with users is slow, causes wear, and limits iteration and diversity. Yet screening agents must master conversational timing, prosody, backchannels, and what to attend to in faces and speech for Depression and PTSD.…

First-person hand-object interaction anticipation aims to predict the interaction process over a forthcoming period based on current scenes and prompts. This capability is crucial for embodied intelligence and human-robot collaboration. The…

In the field of human-object interaction (HOI), detection and generation are two dual tasks that have traditionally been addressed separately, hindering the development of comprehensive interaction understanding. To address this, we propose…

Radio-frequency (RF)-based human activity recognition (HAR) provides a contactless and privacy-preserving solution for monitoring human behavior in applications such as astronaut extravehicular activity monitoring, human-autonomy…

Human-robot interaction (HRI) has become a crucial enabler in houses and industries for facilitating operational flexibility. When it comes to mobile collaborative robots, this flexibility can be further increased due to the autonomous…

We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables…

Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a significant challenge due to the dynamics mismatch between…

Data scaling has long remained a critical bottleneck in robot learning. For humanoid robots, human videos and motion data are abundant and widely available, offering a free and large-scale data source. Besides, the semantics related to the…

Unified video and action prediction models hold great potential for robotic manipulation, as future observations offer contextual cues for planning, while actions reveal how interactions shape the environment. However, most existing…

Real-world scenes often feature multiple humans interacting with multiple objects in ways that are causal, goal-oriented, or cooperative. Yet existing 3D human-object interaction (HOI) benchmarks consider only a fraction of these complex…

Generating realistic and physically plausible 3D Human-Object Interactions (HOI) remains a key challenge in motion generation. One primary reason is that describing these physical constraints with words alone is difficult. To address this…

Synthesizing realistic human-object interaction (HOI) is essential for 3D computer vision and robotics, underpinning animation and embodied control. Existing approaches often require manually specified intermediate waypoints and place all…

Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a major challenge lies in accurately understanding human…

Human-Object Interaction (HOI) recognition is challenging due to two factors: (1) significant imbalance across classes and (2) requiring multiple labels per image. This paper shows that these two challenges can be effectively addressed by…