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For robots to exhibit a high level of intelligence in the real world, they must be able to assess objects for which they have no prior knowledge. Therefore, it is crucial for robots to perceive object affordances by reasoning about physical…

Close and continuous interaction with rich contacts is a crucial aspect of human activities (e.g. hugging, dancing) and of interest in many domains like activity recognition, motion prediction, character animation, etc. However, acquiring…

Graph based representation is widely used in visual tracking field by finding correct correspondences between target parts in consecutive frames. However, most graph based trackers consider pairwise geometric relations between local parts.…

Physical contact between hands and objects plays a critical role in human grasps. We show that optimizing the pose of a hand to achieve expected contact with an object can improve hand poses inferred via image-based methods. Given a hand…

Neural fields are receiving increased attention as a geometric representation due to their ability to compactly store detailed and smooth shapes and easily undergo topological changes. Compared to classic geometry representations, however,…

The animation of user avatars plays a crucial role in conveying their pose, gestures, and relative distances to virtual objects or other users. Self-avatar animation in immersive VR helps improve the user experience and provides a Sense of…

Perception research provides strong evidence in favor of part based representation of shapes in human visual system. Despite considerable differences among different theories in terms of how part boundaries are found, there is substantial…

Human shape spaces have been extensively studied, as they are a core element of human shape and pose inference tasks. Classic methods for creating a human shape model register a surface template mesh to a database of 3D scans and use…

Understanding social interactions from egocentric views is crucial for many applications, ranging from assistive robotics to AR/VR. Key to reasoning about interactions is to understand the body pose and motion of the interaction partner…

Egocentric human pose estimation aims to estimate human body poses and develop body representations from a first-person camera perspective. It has gained vast popularity in recent years because of its wide range of applications in sectors…

We consider the problem of human deformation transfer, where the goal is to retarget poses between different characters. Traditional methods that tackle this problem require a clear definition of the pose, and use this definition to…

Constructing and animating humans is an important component for building virtual worlds in a wide variety of applications such as virtual reality or robotics testing in simulation. As there are exponentially many variations of humans with…

Is it possible to learn policies for robotic assembly that can generalize to new objects? We explore this idea in the context of the kit assembly task. Since classic methods rely heavily on object pose estimation, they often struggle to…

We address the problem of reposing an image of a human into any desired novel pose. This conditional image-generation task requires reasoning about the 3D structure of the human, including self-occluded body parts. Most prior works are…

Exoskeletons and orthoses are wearable mobile systems providing mechanical benefits to the users. Despite significant improvements in the last decades, the technology is not fully mature to be adopted for strenuous and non-programmed tasks.…

The integration of haptics within Augmented Reality may help to deliver an enriched experience, while facilitating the performance of specific actions (e.g. repositioning or resizin ) that are still dependent on the user's skills. This…

Immersive Virtual Reality typically requires a head-mounted display (HMD) to visualize the environment and hand-held controllers to interact with the virtual objects. Recently, many applications display full-body avatars to represent the…

In general, biometry-based control systems may not rely on individual expected behavior or cooperation to operate appropriately. Instead, such systems should be aware of malicious procedures for unauthorized access attempts. Some works…

Learning to operate a vehicle is generally accomplished by forming a new cognitive map between the body motions and extrapersonal space. Here, we consider the challenge of remapping movement-to-space representations in survivors of spinal…

Photorealistic 3D head avatars are vital for telepresence, gaming, and VR. However, most methods focus solely on facial regions, ignoring natural hand-face interactions, such as a hand resting on the chin or fingers gently touching the…