TAIHRI: Task-Aware 3D Human Keypoints Localization for Close-Range Human-Robot Interaction
Accurate 3D human keypoints localization is a critical technology enabling robots to achieve natural and safe physical interaction with users. Conventional 3D human keypoints estimation methods primarily focus on the whole-body reconstruction quality relative to the root joint. However, in practical human-robot interaction (HRI) scenarios, robots are more concerned with the precise metric-scale spatial localization of task-relevant body parts under the egocentric camera 3D coordinate. We propose TAIHRI, the first Vision-Language Model (VLM) tailored for close-range HRI perception, capable of understanding users' motion commands and directing the robot's attention to the most task-relevant...
| Authors | Ao Li, Yonggen Ling, Yiyang Lin et al. |
|---|---|
| Primary category | cs.CV |
| Published | 10 April 2026 |
| Last updated at source | 10 April 2026 |
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