Enhancing Context-Aware Human Motion Prediction for Efficient Robot Handovers

Accurate human motion prediction (HMP) is critical for seamless human-robot collaboration, particularly in handover tasks that require real-time adaptability. Despite the high accuracy of state-of-the-art models, their computational complexity limits practical deployment in real-world robotic applications. In this work, we enhance human motion forecasting for handover tasks by leveraging siMLPe [1], a lightweight yet powerful architecture, and introducing key improvements. Our approach, named IntentMotion incorporates intention-aware conditioning, task-specific loss functions, and a novel intention classifier, significantly improving motion prediction accuracy while maintaining efficiency. Experimental results demonstrate that our method reduces body loss error by over 50%, achieves 200x faster inference, and requires only 3% of the parameters compared to existing state-of-the-art HMP models. These advancements establish our framework as a highly efficient and scalable solution for real-time human-robot interaction.

@article{gómez-izquierdo2025_2503.00576,
  title={ Enhancing Context-Aware Human Motion Prediction for Efficient Robot Handovers },
  author={ Gerard Gómez-Izquierdo and Javier Laplaza and Alberto Sanfeliu and Anaís Garrell },
  journal={arXiv preprint arXiv:2503.00576},
  year={ 2025 }
}