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Pose-Anchored Optical Flow for Low-Latency Human Action Anticipation in Human-Robot Teaming

arXiv · AI, language, vision and robotics · article · Aug 26, 2026 · UTC

Human-robot interaction (HRI) requires robots to interpret human actions early in their execution in order to respond safely, efficiently, and naturally. However, many existing approaches to human action recognition rely either on sparse skeletal representations, which lack fine-grained motion cues, or dense optical flow, which can be computationally expensive for low-latency perception pipelines. In this paper, we propose PoseOFF, a pose-anchored optical flow representation that captures local motion information around human joints to support earlier human intent understanding. By conditionin

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