TR2025-067

Human Monitoring with Correlation-based Dynamic Time Warping for Collaborative Assembly


    •  De Lazzari, D., Terreran, M., Giacomuzzo, G., Jain, S., Falco, P., Carli, R., Romeres, D., "Human Monitoring with Correlation-based Dynamic Time Warping for Collaborative Assembly", IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation, May 2025.
      BibTeX TR2025-067 PDF Video
      • @inproceedings{DeLazzari2025may2,
      • author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Romeres, Diego},
      • title = {{Human Monitoring with Correlation-based Dynamic Time Warping for Collaborative Assembly}},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation},
      • year = 2025,
      • month = may,
      • url = {https://www.merl.com/publications/TR2025-067}
      • }
  • MERL Contacts:
  • Research Area:

    Robotics

Abstract:

This paper introduces the Proactive Assistance through action-Completion Estimation (PACE) framework, designed to enhance human-robot collaboration through real- time monitoring of human progress. Central to PACE is OS- DTWWP, a novel open-ended Dynamic Time Warping (DTW) algorithm for real-time human action completion estimation, which incorporates a Windowed-Pearson (WP) correlation- based distance metric to dynamically track task progression from hand movements. PACE trains a reinforcement learning policy from limited demonstrations to generate a proactive assistance policy that synchronizes robotic actions with human activities, minimizing idle time and enhancing collaboration efficiency. We validate the framework through user studies involving 12 participants, showing significant improvements in interaction fluency, reduced waiting times, and positive user feedback compared to traditional methods.

 

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  • Related Publication

  •  De Lazzari, D., Terreran, M., Giacomuzzo, G., Jain, S., Falco, P., Carli, R., Romeres, D., "PACE: Proactive Assistance in Human-Robot Collaboration through Action-Completion Estimation", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
    BibTeX TR2025-064 PDF Video
    • @inproceedings{DeLazzari2025may,
    • author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Romeres, Diego},
    • title = {{PACE: Proactive Assistance in Human-Robot Collaboration through Action-Completion Estimation}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-064}
    • }