Probabilistic modeling of human movements for intention inference

Zhikun Wang, Marc Peter Deisenroth, Heni Ben Amor, David Vogt, Bernhard Schölkopf, Jan Peters

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations


Inference of human intention may be an essential step towards understanding human actions and is hence important for realizing efficient human-robot interaction. In this paper, we propose the Intention-Driven Dynamics Model (IDDM), a latent variable model for inferring unknown human intentions. We train the model based on observed human movements/actions. We introduce an efficient approximate inference algorithm to infer the human's intention from an ongoing movement. We verify the feasibility of the IDDM in two scenarios, i.e., target inference in robot table tennis and action recognition for interactive humanoid robots. In both tasks, the IDDM achieves substantial improvements over state-of-The-Art regression and classification.

Original languageEnglish (US)
Title of host publicationRobotics
Subtitle of host publicationScience and Systems VIII
EditorsNicholas Roy, Paul Newman, Siddhartha Srinivasa
PublisherMIT Press Journals
Number of pages8
ISBN (Print)9780262519687
StatePublished - 2013
Externally publishedYes
EventInternational Conference on Robotics Science and Systems, RSS 2012 - Sydney, Australia
Duration: Jul 9 2012Jul 13 2012

Publication series

NameRobotics: Science and Systems
ISSN (Print)2330-7668
ISSN (Electronic)2330-765X


OtherInternational Conference on Robotics Science and Systems, RSS 2012

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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