mlsanityData to 14 Oct 2026

Adaptive Interaction Network for Human Motion Prediction During Human-Robot Collaboration

arXiv 2610.16624 ↗First posted 12 Oct 2026cs.CVcited by 0

Not on the map. Why?

Abstract (arXiv)

Human motion prediction during human-robot collaboration is critical for achieving safe and efficient interactions in shared environments. Unlike previous studies that have primarily focused on humans and objects, we focus on the robot-aware human motion prediction task, which explicitly models the influence of robots on human motion. This task presents new challenges, such as capturing human-robot heterogeneity and modeling complex spatial interactions. To address these issues, we develop an adaptive interaction network (AINet) model that consists of two branches: a primary branch that predicts future human motion and an auxiliary branch that estimates robot trajectories. The two branches are jointly optimized and coupled via a Local-Global Spatial Interaction (LGSI) Module, which effectively captures fine-grained and global contextual dependencies between human and robot motion sequences. Then, we introduce an Adaptive Weighted Aggregation (AWA) Module to dynamically fuse motion features using context-dependent weights, thereby increasing adaptability across diverse scenarios. Furthermore, we adopt a coarse-to-fine prediction strategy, in which a coarse pseudo-trajectory is first predicted, followed by the refinement of detailed human poses based on that trajectory. Extensive experiments on three challenging datasets reveal that our proposed method achieves superior performance, validating its effectiveness in human-robot collaboration scenarios. Our code is available at: https://github.com/LyTingHub/AINet.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 27 of its 53 references that are in the map. First posted on arXiv 12 Oct 2026.

Builds on

27 of 53 references.

References · 27

  1. 2017On human motion prediction using recurrent neural networkscited by 338
  2. 2019Learning Trajectory Dependencies for Human Motion Predictioncited by 246
  3. 2020Long-term Human Motion Prediction with Scene Contextcited by 192
  4. 2020History Repeats Itself: Human Motion Prediction via Motion Attentioncited by 165
  5. 2022Back to MLP: A Simple Baseline for Human Motion Predictioncited by 100
  6. 2019Context-aware Human Motion Predictioncited by 84
  7. 2021Multi-Person Extreme Motion Predictioncited by 75
  8. 2019Spatiotemporal Co-attention Recurrent Neural Networks for Human-Skeleton Motion Predictioncited by 47
  9. 2021Multiscale Spatio-Temporal Graph Neural Networks for 3D Skeleton-Based Motion Predictioncited by 37
  10. 2024Multi-agent Long-term 3D Human Pose Forecasting via Interaction-aware Trajectory Conditioningcited by 30
  11. 2023Skeleton-in-Context: Unified Skeleton Sequence Modeling with In-Context Learningcited by 27
  12. 2023Trajectory-Aware Body Interaction Transformer for Multi-Person Pose Forecastingcited by 26
15 more
  1. 2022Pose Forecasting in Industrial Human-Robot Collaborationcited by 25
  2. 2023Robots That Can See: Leveraging Human Pose for Trajectory Predictioncited by 23
  3. 2023Spatiotemporal Decouple-and-Squeeze Contrastive Learning for Semi-Supervised Skeleton-based Action Recognitioncited by 17
  4. 2023TransFusion: A Practical and Effective Transformer-based Diffusion Model for 3D Human Motion Predictioncited by 17
  5. 2024HOIMotion: Forecasting Human Motion During Human-Object Interactions Using Egocentric 3D Object Bounding Boxescited by 17
  6. 2020Multitask Non-Autoregressive Model for Human Motion Predictioncited by 16
  7. 2023GCNext: Towards the Unity of Graph Convolutions for Human Motion Predictioncited by 12
  8. 2023InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actionscited by 11
  9. 2023Dynamic Dense Graph Convolutional Network for Skeleton-based Human Motion Predictioncited by 11
  10. 2023Social Motion Prediction with Cognitive Hierarchiescited by 9
  11. 2023Scene-aware Human Motion Forecasting via Mutual Distance Predictioncited by 8
  12. 2023Enhanced Human-Robot Collaboration using Constrained Probabilistic Human-Motion Predictioncited by 6
  13. 2024Context-based Interpretable Spatio-Temporal Graph Convolutional Network for Human Motion Forecastingcited by 6
  14. 2024Exploring 3D Human Pose Estimation and Forecasting from the Robot's Perspective: The HARPER Datasetcited by 6
  15. 2023ManiCast: Collaborative Manipulation with Cost-Aware Human Forecastingcited by 5

Built on by

Not cited yet.