Context and Intention aware 3D Human Body Motion Prediction using an Attention Deep Learning model in Handover Tasks

Javier Laplaza,Francesc Moreno-Noguer,Alberto Sanfeliu,Javier Laplaza,Francesc Moreno-Noguer,Alberto Sanfeliu

This work explores how contextual information and human intention affect the motion prediction of humans during a handover operation with a social robot. By classifying human intention in four different classes, we developed a model able to generate a different motion for each intention class. Furthermore, the model uses a multi-headed attention architecture to add contextual information to the pi...