Effective Human-Robot Interaction (HRI) is crucial for future service robots in aging societies. Existing solutions are biased toward only well-trained objects, creating a gap when dealing with new objects. Currently, HRI systems using predefined gestures or language tokens for pretrained objects pose challenges for all individuals, especially elderly ones. These challenges include difficulties in recalling commands, memorizing hand gestures, and learning new names. This paper introduces NVP-HRI, an intuitive multi-modal HRI paradigm that combines voice commands and deictic posture. NVP-HRI utilizes the Segment Anything Model (SAM) to analyze visual cues and depth data, enabling precise structural object representation. Through a pre-trained SAM network, NVP-HRI allows interaction with new objects via zero-shot prediction, even without prior knowledge. NVP-HRI also integrates with a large language model (LLM) for multimodal commands, coordinating them with object selection and scene distribution in real time for collision-free trajectory solutions. We also regulate the action sequence with the essential control syntax to reduce LLM hallucination risks. The evaluation of diverse real-world tasks using a Universal Robot showcased up to 59.2\% efficiency improvement over traditional gesture control, as illustrated in the video https://youtu.be/EbC7al2wiAc. Our code and design will be openly available at https://github.com/laiyuzhi/NVP-HRI.git.

Translating human intent into robot commands is crucial for the future of service robots in an aging society. Existing Human-Robot Interaction (HRI) systems relying on gestures or verbal commands are impractical for the elderly due to difficulties with complex syntax or sign language. To address the challenge, this paper introduces a multi-modal interaction framework that combines voice and deictic posture information to create a more natural HRI system. The visual cues are first processed by the object detection model to gain a global understanding of the environment, and then bounding boxes are estimated based on depth information. By using a large language model (LLM) with voice-to-text commands and temporally aligned selected bounding boxes, robot action sequences can be generated, while key control syntax constraints are applied to avoid potential LLM hallucination issues. The system is evaluated on real-world tasks with varying levels of complexity using a Universal Robots UR3e manipulator. Our method demonstrates significantly better performance in HRI in terms of accuracy and robustness. To benefit the research community and the general public, we will make our code and design open-source.

Pedestrian trajectory prediction is a key technology in many applications such as video surveillance, social robot navigation, and autonomous driving, and significant progress has been made in this research topic. However, there remain two limitations of previous studies. First, with the continuation of time, the prediction error at each time step increases significantly, causing the final displacement error to be impossible to ignore. Second, the prediction results of multiple pedestrians might be impractical in the prediction horizon, i.e., the predicted trajectories might collide with each other. To overcome these limitations, this work proposes a novel trajectory prediction method called CSR, which consists of a cascaded conditional variational autoencoder (CVAE) module and a socially-aware regression module. The cascaded CVAE module first estimates the future trajectories in a sequential pattern. Specifically, each CVAE concatenates the past trajectories and the predicted points so far as the input and predicts the location at the following time step. Then, the socially-aware regression module generates offsets from the estimated future trajectories to produce the socially compliant final predictions, which are more reasonable and accurate results than the estimated trajectories. Moreover, considering the large model parameters of the cascaded CVAE module, a slide CVAE module is further exploited to improve the model efficiency using one shared CVAE, in a slidable manner. Experiments results demonstrate that the proposed method exhibits improvements over state-of-the-art method on the Stanford Drone Dataset (SDD) and ETH/UCY of approximately 38.0% and 22.2%, respectively.

Trajectory planning is a fundamental task on various autonomous driving platforms, such as social robotics and self-driving cars. Many trajectory planning algorithms use a reference curve based Frenet frame with time to reduce the planning dimension. However, there is a common implicit assumption in classic trajectory planning approaches, which is that the generated trajectory should follow the reference curve continuously. This assumption is not always true in real applications and it might cause some undesired issues in planning. One issue is that the projection of the planned trajectory onto the reference curve maybe discontinuous. Then, some segments on the reference curve are not the image of any part of the planned path. Another issue is that the planned path might self-intersect when following a simple reference curve continuously. The generated trajectories are unnatural and suboptimal ones when these issues happen. In this paper, we firstly demonstrate these issues and then introduce an efficient trajectory generation method which uses a new transformation from the Cartesian frame to Frenet frames. Experimental results on a simulated street scenario demonstrated the effectiveness of the proposed method.

Feature selection is an important technique in machine learning research. An effective and robust feature selection method is desired to simultaneously identify the informative features and eliminate the noisy ones of data. In this paper, we consider the unsupervised feature selection problem which is particularly difficult as there is not any class labels that would guide the search for relevant features. To solve this, we propose a novel algorithmic framework which performs unsupervised feature selection. Firstly, the proposed framework implements structure learning, where the data structures (including intrinsic distribution structure and the data segment) are found via a combination of the alternative optimization and clustering. Then, both the intrinsic data structure and data segmentation are formulated as regularization terms for discriminant feature selection. The results of the feature selection also affect the structure learning step in the following iterations. By leveraging the interactions between structure learning and feature selection, we are able to capture more accurate structure of data and select more informative features. Clustering and classification experiments on real world image data sets demonstrate the effectiveness of our method.

While recent techniques for discriminative dictionary learning have attained promising results on the classification tasks, their performance is highly dependent on the number of labeled samples available for training. However, labeling samples is expensive and time consuming due to the significant human effort involved. In this paper, we present a novel semi- supervised dictionary learning method which utilizes the structural sparse relationships between the labeled and unlabeled samples. Specifically, by connecting the sparse reconstruction coefficients on both the original samples and dictionary, the unlabeled samples can be automatically grouped to the different labeled samples, and the grouped samples share a small number of atoms in the dictionary via mixed l2p- norm regularization. This makes the learned dictionary more representative and discriminative since the shared atoms are learned by using the labeled and unlabeled samples potentially from the same class. Minimizing the derived objective function is a challenging task because it is non-convex and highly non-smooth. We propose an efficient optimization algorithm to solve the problem based on the block coordinate descent method. Moreover, we have a rigorous proof of the convergence of the algorithm. Extensive experiments are presented to show the superior performance of our method in classification applications.

Visual tracking is an important research topic in computer vision community. Although there are numerous tracking algorithms in the literature, no one performs better than the others under all circumstances, and the best algorithm for a particular dataset may not be known a priori. This motivates a fundamental problem-the necessity of an ensemble learning of different tracking algorithms to overcome their drawbacks and to increase the generalization ability. This paper proposes a multi-modality ranking aggregation framework for fusion of multiple tracking algorithms. In our work, each tracker is viewed as a `ranker' which outputs a rank list of the candidate image patches based on its own appearance model in a particular modality. Then the proposed algorithm aggregates the rankings of different rankers to produce a joint ranking. Moreover, the level of expertise for each `ranker' based on the historical ranking results is also effectively used in our model. The proposed model not only provides a general framework for fusing multiple tracking algorithms on multiple modalities, but also provides a natural way to combine the advantages of the generative model based trackers and the the discriminative model based trackers. It does not need to directly compare the output results obtained by different trackers, and such a comparison is usually heuristic. Extensive experiments demonstrate the effectiveness of our work.