SASI: Leveraging Sub-Action Semantics for Robust Early Action Recognition in Human-Robot Interaction

arXiv:2604.27508 · cs.RO · Submitted 2026-04-30 · Read on arXiv

cs.RO

Submitted: 2026-04-30

Updated: 2026-09-25

Terminology

• Accuracy — 22× in this paper · explained in 1 episode
• Human-Robot Interaction — 8× in this paper
• Loss Function — 7× in this paper · explained in 2 episodes
• Transformer — 5× in this paper · explained in 2 episodes
• Attention Mechanism — 4× in this paper · explained in 3 episodes
• Embeddings — 4× in this paper · explained in 2 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Cosine Similarity — 3× in this paper · explained in 3 episodes
• Cross-Attention Mechanism — 3× in this paper · explained in 2 episodes
• Feature Extraction — 3× in this paper · explained in 2 episodes
• Interpretability — 3× in this paper · explained in 15 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Adaptive Graph — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Motion Primitives — 2× in this paper · explained in 2 episodes
• Tokenization — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Action Primitives — 1× in this paper · explained in 1 episode
• Adjacency Matrix — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Convolutional Neural Networks (CNNs) — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Multimodal Learning — 1× in this paper · explained in 2 episodes
• P ERFORMANCE COMPARISON AT DIFFERENT OBSERVATION RATIOS — 1× in this paper
• Redundancy — 1× in this paper · explained in 2 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Transformer Architecture — 1× in this paper · explained in 2 episodes
• Transformer Models — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes

Sources

• Semi-Supervised Classification with Graph Convolutional Networks
• Revealing Key Details to See Differences: A Novel Prototypical Perspective for Skeleton-based Action Recognition
• InfoGCN++: Learning Representation by Predicting the Future for Online Human Skeleton-based Action Recognition
• Anticipating many futures: Online human motion prediction and synthesis for human-robot collaboration
• Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
• Sentence-BERT: Sentence Embeddings using Siamese BERT-Networks
• HumanTOMATO: Text-aligned Whole-body Motion Generation
• SkateFormer: Skeletal-Temporal Transformer for Human Action Recognition

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