Hello, I'm Esteve Valls Mascaro

I am a PhD at TuWien advised by Prof Dongheui Lee , where I work on understanding human intention for a better human-robot collaboration.

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News

  • Sep 2024: Self-AWare has been accepted to Humanoids 2024 and HFR 2024.
  • Jun 2024: I-CTRL is out! Take a look to control any bipedal humanoid robots by imitating any human motion.
  • Feb 2024: I have been a visiting researcher in PAL Robotics and IRI-UPC
  • Dec 2023: ECHO has been accepted to ICRA 2024.
  • Dec 2023: UNIMASK-M has been accepted to AAAI 2024.
  • Sep 2023: ImitationNet has been accepted to Humanoids 2023.
  • Sep 2023: HOI4ABOT has been accepted to CoRL 2023.
  • June 2023: HOI-Gaze has been accepted to CVIU Journal 2023.
  • Apr 2023: I have been a visiting researcher in the AImageLab in UNIMORE, under the supervision of Prof Simone Calderara and Prof Lorenzo Baraldi.
  • Jan 2023: DiffusionMotion has been accepted to ICRA 2023.
  • Nov 2022: I-CVAE has been accepted to WACV 2023.
  • Oct 2022: We won the ECCV@2022 Ego4D Long-Term Action Anticipation Challenge: First Place Award with I-CVAE.
  • Jun 2022: We won the CVPR@2022 Ego4D Long-Term Action Anticipation Challenge: First Place Award with I-CVAE.
  • Jun 2022: Our team moved from TUM to TUWien. Happy for a new start in the new Autonomous Systems Lab.
  • Apr 2022: 2CHTR has been accepted to IROS 2022.

Publications

Know your limits! Optimize the behavior of bipedal robots through self-awareness

Know your limits! Optimize the behavior of bipedal robots through self-awareness

Esteve Valls Mascaro, Dongheui Lee
Humanoids 2024 and HFR 2024

Enhance robot behavior to follow any textual and movement command by recognizing its own limitations and expertise

Project Page PDF arXiv
I-CTRL: Imitation to Control Humanoid Robots Through Constrained Reinforcement Learning

I-CTRL: Imitation to Control Humanoid Robots Through Constrained Reinforcement Learning

Yashuai Yan, Esteve Valls Mascaro, Tobias Egle, Dongheui Lee
under submission

Control any bipedal humanoid robot by imitating human movements. Any motion, any robot, and in physics-based simulators!

Project Page PDF arXiv
Robot Interaction Behavior Generation based on Social Motion Forecasting for Human-Robot Interaction

Robot Interaction Behavior Generation based on Social Motion Forecasting for Human-Robot Interaction

Esteve Valls Mascaro, Yashuai Yan, Dongheui Lee
ICRA 2024

Generating robot motions in social interactions conditioned on semantics, and without any robot data!

Project Page PDF arXiv
A Unified Masked Autoencoder with Patchified Skeletons for Motion Synthesis

A Unified Masked Autoencoder with Patchified Skeletons for Motion Synthesis

Esteve Valls Mascaro, Hyemin Ahn, Dongheui Lee
AAAI 2024

How can we tackle all variations of human motion synthesis using a unique architecture? UNIMASK-M

Project Page PDF arXiv
Unsupervised human-to-robot motion retargeting via expressive latent space

Unsupervised human-to-robot motion retargeting via expressive latent space

Yashuai Yan, Esteve Valls Mascaro, Dongheui Lee
Humanoids 2023 Oral

Learn how real robots can imitate human movements from different modalities in an unsupervised manner

Project Page PDF arXiv
HOI4ABOT: Human-Object Interaction Anticipation for Assistive roBOTs

HOI4ABOT: Human-Object Interaction Anticipation for Assistive roBOTs

Esteve Valls Mascaro, Daniel Sliwowski, Dongheui Lee
CoRL 2023

Detect and anticipate human-object interactions for intention reading, which facilitate robots to assist humans.

Project Page PDF arXiv
Human–object interaction prediction in videos through gaze following

Human–object interaction prediction in videos through gaze following

Zhifan Ni, Esteve Valls Mascaro, Hyemin Ahn, Dongheui Lee
CVIU, 2023 Journal Paper

Leveraging gaze provides essential cues for predicting the human intention, which helps to anticipate the human-object interactions.

Project Page PDF arXiv Code
Can We Use Diffusion Probabilistic Models for 3D Motion Prediction?

Can We Use Diffusion Probabilistic Models for 3D Motion Prediction?

Hyemin Ahn, Esteve Valls Mascaro, Dongheui Lee
ICRA, 2023

Diffusion models offer the right balance between likelihood and diversity when synthesizing human motions from past observations.

Project Page PDF arXiv Code
Intention-Conditioned Long-Term Human Egocentric Action Forecasting

Intention-Conditioned Long-Term Human Egocentric Action Forecasting

Esteve Valls Mascaro, Hyemin Ahn, Dongheui Lee
WACV, 2023 Winner of Ego4D LTA Challenge in CVPR2022 and ECCV2022

Understanding the human intention is key for a better prediction of what a human will do in the long-term.

Project Page PDF arXiv Code
Robust Human Motion Forecasting using Transformer-based Model

Robust Human Motion Forecasting using Transformer-based Model

Esteve Valls Mascaro, Ma Shuo, Hyemin Ahn, Dongheui Lee
IROS, 2022

Decoupling space and time in human motion forecasting allows for more robust and efficient models.

Project Page PDF arXiv