Valls Mascaró, Esteve und Sliwowski, Daniel und Lee, Dongheui (2023) HOI4ABOT: Human-Object Interaction Anticipation for Human Intention Reading Assistive roBOTs. In: 7th Conference on Robot Learning, CoRL 2023 (229), Seiten 1111-1130. CoRL 2023, 2023-11-06 - 2023-11-09, Atlanta, USA. ISSN 2640-3498.
PDF
- Nur DLR-intern zugänglich
8MB | |
PDF
8MB |
Offizielle URL: https://proceedings.mlr.press/v229/mascaro23a.html
Kurzfassung
Robots are becoming increasingly integrated into our lives, assisting us in various tasks. To ensure effective collaboration between humans and robots, it is essential that they understand our intentions and anticipate our actions. In this paper, we propose a Human-Object Interaction (HOI) anticipation framework for collaborative robots. We propose an efficient and robust transformer-based model to detect and anticipate HOIs from videos. This enhanced anticipation empowers robots to proactively assist humans, resulting in more efficient and intuitive collaborations. Our model outperforms state-of-the-art results in HOI detection and anticipation in VidHOI dataset with an increase of 1.76% and 1.04% in mAP respectively while being 15.4 times faster. We showcase the effectiveness of our approach through experimental results in a real robot, demonstrating that the robot's ability to anticipate HOIs is key for better Human-Robot Interaction.
elib-URL des Eintrags: | https://elib.dlr.de/203114/ | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||
Titel: | HOI4ABOT: Human-Object Interaction Anticipation for Human Intention Reading Assistive roBOTs | ||||||||||||||||
Autoren: |
| ||||||||||||||||
Datum: | 2023 | ||||||||||||||||
Erschienen in: | 7th Conference on Robot Learning, CoRL 2023 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
Seitenbereich: | Seiten 1111-1130 | ||||||||||||||||
ISSN: | 2640-3498 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Human-Object Interaction, Human-Robot Collaboration, Human Intention | ||||||||||||||||
Veranstaltungstitel: | CoRL 2023 | ||||||||||||||||
Veranstaltungsort: | Atlanta, USA | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 6 November 2023 | ||||||||||||||||
Veranstaltungsende: | 9 November 2023 | ||||||||||||||||
Veranstalter : | Robot Learning Foundation | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Interagierende Robotersteuerung | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Geyer, Günther | ||||||||||||||||
Hinterlegt am: | 06 Mär 2024 13:38 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 21:03 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags