InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actions
Kushal Kedia,Atiksh Bhardwaj,Prithwish Dan,Sanjiban Choudhury,Kushal Kedia,Atiksh Bhardwaj,Prithwish Dan,Sanjiban Choudhury
In collaborative human-robot manipulation, a robot must predict human intents and adapt its actions accordingly to smoothly execute tasks. However, the human’s intent in turn depends on actions the robot takes, creating a chicken-or-egg problem. Prior methods ignore such inter-dependency and instead train marginal intent prediction models independent of robot actions. This is because training cond...
