6 papers
GESTO: Human-Centric Spatio-Temporal Memory for Reasoning in Dynamic Scenes
Ermanno Bartoli, Buwei He, Dennis Rotondi +6
Robots operating in human environments need memories that capture not only what objects exist and where, but also how people use them over time and how individual interactions comp…
Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots
Ermanno Bartoli, Dennis Rotondi, Buwei He +3
Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs…
A Pairwise Human-Human Interaction Detection and Recognition Framework for Mobile Service Robots
Mengyu Liang, Iolanda Leite, Sarah Gillet
Autonomous mobile service robots, such as lawnmowers or cleaning robots, operating in human-populated environments need to reason about human-human interactions to support safe and…
MM-Conv: A Multimodal Dataset and Benchmark for Context-Aware Grounding in 3D Dialogue
Anna Deichler, Jim O'Regan, Fethiye Irmak Dogan +4
Grounding language in the physical world requires AI systems to interpret references that emerge dynamically during conversation. While current vision-language models (VLMs) excel…
Humans Coexist, So Must Embodied Artificial Agents
Hannah Kuehn, Joseph La Delfa, Miguel Vasco +2
This paper introduces the concept of coexistence for embodied artificial agents and argues that it is a prerequisite for long-term, in-the-wild interaction with humans. Contemporar…
Long-Term Planning Around Humans in Domestic Environments with 3D Scene Graphs
Ermanno Bartoli, Dennis Rotondi, Kai O. Arras +1
Long-term planning for robots operating in domestic environments poses unique challenges due to the interactions between humans, objects, and spaces. Recent advancements in traject…