OmniRobotHome: A Multi-Camera Platform for Real-Time Multiadic Human-Robot Interaction
Junyoung Lee Sookwan Han Jeonghwan Kim Inhee Lee Mingi Choi Jisoo Kim Wonjung Woo Hanbyul Joo
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Abstract
Human-robot collaboration has been studied primarily in dyadic or sequential settings. However, real homes require multiadic collaboration, where multiple humans and robots share a workspace, acting concurrently on interleaved subtasks with tight spatial and temporal coupling. This regime remains underexplored because close-proximity interaction between humans, robots, and objects creates persistent occlusion and rapid state changes, making reliable real-time 3D tracking the central bottleneck. No existing platform provides the real-time, occlusion-robust, room-scale perception needed to make this regime experimentally tractable. We present OmniRobotHome, the first room-scale residential platform that unifies wide-area real-time 3D human and object perception with coordinated multi-robot actuation in a shared world frame. The system instruments a natural home environment with 48 hardware-synchronized RGB cameras for markerless, occlusion-robust tracking of multiple humans and objects, temporally aligned with two Franka arms that act on live scene state. Continuous capture within this consistent frame further supports long-horizon human behavior modeling from accumulated trajectories. The platform makes the multiadic collaboration regime experimentally tractable. We focus on two central problems: safety in shared human-robot environments and human-anticipatory robotic assistance, and show that real-time perception and accumulated behavior memory each yield measurable gains in both.引用本文复制引用
Junyoung Lee,Sookwan Han,Jeonghwan Kim,Inhee Lee,Mingi Choi,Jisoo Kim,Wonjung Woo,Hanbyul Joo.OmniRobotHome: A Multi-Camera Platform for Real-Time Multiadic Human-Robot Interaction[EB/OL].(2026-04-30)[2026-05-02].https://arxiv.org/abs/2604.28197.学科分类
自动化技术、自动化技术设备
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