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[CVPR21] Learning Triadic Belief Dynamics in Nonverbal Communication from Videos

Humans possess a unique social cognition capability; nonverbal communication can convey rich social information among agents. In contrast, such crucial social characteristics are mostly missing in the existing sceneunderstanding literature. In this …

[CVPR21] ACRE: Abstract Causal Reasoning Beyond Covariation

Causal induction, i.e., identifying unobservable mechanisms that lead to the observable relations among variables, has played a pivotal role in modern scientific discovery, especially in scenarios with only sparse and limited data. Humans, even young …

[CVPR21] Abstract Spatial-Temporal Reasoning via Probabilistic Abduction and Execution

Spatial-temporal reasoning is a challenging task in Artificial Intelligence (AI) due to its demanding but unique nature: a theoretic requirement on representing and reasoning based on spatial-temporal knowledge in mind, and an applied requirement on …

[ICRA21] Reconstructing Interactive 3D Scene by Panoptic Mapping and CAD Model Alignments

In this paper, we rethink the problem of scene reconstruction from an embodied agent's perspective: While the classic view focuses on the reconstruction accuracy, our new perspective emphasizes the underlying functions and constraints such that the …

[ICRA21] Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidance

Predicting agents' future trajectories plays a crucial role in modern AI systems, yet it is challenging due to intricate interactions exhibited in multi-agent systems, especially when it comes to collision avoidance. To address this challenge, we …

[ECCV20] LEMMA: A Multi-view Dataset for Learning Multi-agent Multi-task Activities

Understanding and interpreting human actions is a long-standing challenge and a critical indicator of perception in artificial intelligence. However, a few imperative components of daily human activities are largely missed in prior literature, …

[IROS20] Human-Robot Interaction in a Shared Augmented Reality Workspace

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 a shared …

[IROS20] Graph-based Hierarchical Knowledge Representation for Robot Task Transfer from Virtual to Physical World

\[Best Paper Finalist\]We study the hierarchical knowledge transfer problem using a cloth-folding task, wherein the agent is first given a set of human demonstrations in the virtual world using an Oculus Headset, and later transferred and validated …

[ICRA20] Joint Inference of States, Robot Knowledge, and Human (False-)Beliefs

Aiming to understand how human (false-)belief---a core socio-cognitive ability---would affect human interactions with robots, this paper proposes to adopt a graphical model to unify the representation of object states, robot knowledge, and human …

[ICRA20] Congestion-aware Evacuation Routing using Augmented Reality Devices

We present a congestion-aware routing solution for indoor evacuation, which produces real-time individual-customized evacuation routes among multiple destinations while keeping tracks of all evacuees' locations. A population density map, obtained …