# OmniRobotHome: A Multi-Camera Home Platform for Real-Time Human-Robot Interaction

arXiv: https://arxiv.org/abs/2604.28197 · HTML: https://mlsanity.com/paper/2604.28197/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 51 of its 80 references that are in the map.
- First posted on arXiv 30 Apr 2026.

## Builds on (most cited first, 30 of 51)

- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [Robust Speech Recognition via Large-Scale Weak Supervision](https://mlsanity.com/paper/2212.04356/) (2022)
- [Flow Straight and Fast: Learning to Generate and Transfer Data with Rectified Flow](https://mlsanity.com/paper/2209.03003/) (2022)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [AMASS: Archive of Motion Capture as Surface Shapes](https://mlsanity.com/paper/1904.03278/) (2019)
- [OpenAI GPT-5 System Card](https://mlsanity.com/paper/2601.03267/) (2025)
- [DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset](https://mlsanity.com/paper/2403.12945/) (2024)
- [QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation](https://mlsanity.com/paper/1806.10293/) (2018)
- [ECAPA-TDNN: Emphasized Channel Attention, Propagation and Aggregation in TDNN Based Speaker Verification](https://mlsanity.com/paper/2005.07143/) (2020)
- [CLIPort: What and Where Pathways for Robotic Manipulation](https://mlsanity.com/paper/2109.12098/) (2021)
- [Ego-Exo4D: Understanding Skilled Human Activity from First- and Third-Person Perspectives](https://mlsanity.com/paper/2311.18259/) (2023)
- [FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects](https://mlsanity.com/paper/2312.08344/) (2023)
- [GRAB: A Dataset of Whole-Body Human Grasping of Objects](https://mlsanity.com/paper/2008.11200/) (2020)
- [Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation](https://mlsanity.com/paper/2401.02117/) (2024)
- [Transporter Networks: Rearranging the Visual World for Robotic Manipulation](https://mlsanity.com/paper/2010.14406/) (2020)
- [Resolving 3D Human Pose Ambiguities with 3D Scene Constraints](https://mlsanity.com/paper/1908.06963/) (2019)
- [CosyPose: Consistent multi-view multi-object 6D pose estimation](https://mlsanity.com/paper/2008.08465/) (2020)
- [GaussianAvatars: Photorealistic Head Avatars with Rigged 3D Gaussians](https://mlsanity.com/paper/2312.02069/) (2023)
- [TidyBot: Personalized Robot Assistance with Large Language Models](https://mlsanity.com/paper/2305.05658/) (2023)
- [RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot](https://mlsanity.com/paper/2307.00595/) (2023)
- [XTTS: a Massively Multilingual Zero-Shot Text-to-Speech Model](https://mlsanity.com/paper/2406.04904/) (2024)
- [Whole-Body Human Pose Estimation in the Wild](https://mlsanity.com/paper/2007.11858/) (2020)
- [RTMPose: Real-Time Multi-Person Pose Estimation based on MMPose](https://mlsanity.com/paper/2303.07399/) (2023)
- [Panoptic Studio: A Massively Multiview System for Social Interaction Capture](https://mlsanity.com/paper/1612.03153/) (2016)
- [History Repeats Itself: Human Motion Prediction via Motion Attention](https://mlsanity.com/paper/2007.11755/) (2020)
- [BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects](https://mlsanity.com/paper/2303.14158/) (2023)
- [Learning in an Uncertain World: Representing Ambiguity Through Multiple Hypotheses](https://mlsanity.com/paper/1612.00197/) (2016)

## Abstract (arXiv)

Robots that assist people must respond promptly and appropriately to human activity, which requires low-latency processing, accurate perception, and anticipation of human motion. These requirements are especially difficult to meet in living environments, where perception must cover wide areas, remain robust to occlusion, and capture natural behavior without wearable devices. We present OmniRobotHome, a testbed that addresses these challenges in a fully furnished home that supports natural everyday activity. Its 48 hardware-synchronized cameras provide room-wide coverage, enabling accurate markerless perception under occlusion. A distributed perception pipeline processes these streams in parallel and delivers persistent human and object states to robot controllers with low latency. We demonstrate OmniRobotHome through two human-robot interaction studies: proactive yielding for safety and nonverbal intent recognition for assistance. Through these studies, we analyze how camera coverage, state latency, multi-view pose, hand, and gaze estimation, and behavior-memory-based forecasting affect overall task performance. Our results highlight the value of OmniRobotHome as a testbed for studying human-robot assistance in real living environments.