DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

HOI4ABOT: Human-Object Interaction Anticipation for Human Intention Reading Assistive roBOTs

Valls Mascaró, Esteve and Sliwowski, Daniel and Lee, Dongheui (2023) HOI4ABOT: Human-Object Interaction Anticipation for Human Intention Reading Assistive roBOTs. In: 7th Conference on Robot Learning, CoRL 2023 (229), pp. 1111-1130. CoRL 2023, 2023-11-06 - 2023-11-09, Atlanta, USA. ISSN 2640-3498.

[img] PDF - Only accessible within DLR
[img] PDF

Official URL: https://proceedings.mlr.press/v229/mascaro23a.html


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.

Item URL in elib:https://elib.dlr.de/203114/
Document Type:Conference or Workshop Item (Poster)
Title:HOI4ABOT: Human-Object Interaction Anticipation for Human Intention Reading Assistive roBOTs
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Valls Mascaró, EsteveTU Wienhttps://orcid.org/0000-0003-4195-8672UNSPECIFIED
Lee, DongheuiUNSPECIFIEDhttps://orcid.org/0000-0003-1897-7664UNSPECIFIED
Journal or Publication Title:7th Conference on Robot Learning, CoRL 2023
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 1111-1130
Keywords:Human-Object Interaction, Human-Robot Collaboration, Human Intention
Event Title:CoRL 2023
Event Location:Atlanta, USA
Event Type:international Conference
Event Start Date:6 November 2023
Event End Date:9 November 2023
Organizer:Robot Learning Foundation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Interactive robot control
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Geyer, Günther
Deposited On:06 Mar 2024 13:38
Last Modified:24 Apr 2024 21:03

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.