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

28 Sep 2023arXiv:2309.16524archive 2025-07-28

Esteve Valls Mascaro, Daniel Sliwowski, Dongheui Lee

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. More information can be found on our project webpage: https://evm7.github.io/HOI4ABOT_page/

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Tasks

Human-Object Interaction AnticipationHuman-Object Interaction Detection

Results from the paper archive 2025-07-28

TaskDatasetModelMetricValueRank at snapshotLeaderboardReport
Human-Object Interaction Anticipation VidHOI HOI4ABOT Person-wise Top5: t=1(mAP@0.5) 37.77 #1 of 3 Archive leaderboard report
Human-Object Interaction Anticipation VidHOI HOI4ABOT Person-wise Top5: t=3(mAP@0.5) 34.75 #1 of 3 Archive leaderboard report
Human-Object Interaction Anticipation VidHOI HOI4ABOT Person-wise Top5: t=5(mAP@0.5) 34.07 #1 of 3 Archive leaderboard report
Human-Object Interaction Detection VidHOI HOI4ABOT Detection: Full (mAP@0.5) 11.12 #1 of 3 Archive leaderboard report
Human-Object Interaction Detection VidHOI HOI4ABOT Detection: Non-Rare (mAP@0.5) 18.48 #1 of 3 Archive leaderboard report
Human-Object Interaction Detection VidHOI HOI4ABOT Detection: Rare (mAP@0.5) 5.61 #1 of 3 Archive leaderboard report
Human-Object Interaction Detection VidHOI HOI4ABOT Oracle: Full (mAP@0.5) 40.37 #1 of 3 Archive leaderboard report
Human-Object Interaction Detection VidHOI HOI4ABOT Oracle: Non-Rare (mAP@0.5) 54.52 #1 of 3 Archive leaderboard report
Human-Object Interaction Detection VidHOI HOI4ABOT Oracle: Rare (mAP@0.5) 29.5 #1 of 3 Archive leaderboard report

Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.

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