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In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…
Understanding design decisions in relation to the future occupants of a building is a crucial part of good design. However, limitations in tools and expertise hinder meaningful human-centric decisions during the design process. In this…
Motions of virtual characters in movies or video games are typically generated by recording actors using motion capturing methods. Animations generated this way often need postprocessing, such as improving the periodicity of cyclic…
Many applications in 3D shape design and augmentation require the ability to make specific edits to an object's semantic parameters (e.g., the pose of a person's arm or the length of an airplane's wing) while preserving as much existing…
Learning an animatable and clothed human avatar model with vivid dynamics and photorealistic appearance from multi-view videos is an important foundational research problem in computer graphics and vision. Fueled by recent advances in…
We present X-Avatar, a novel avatar model that captures the full expressiveness of digital humans to bring about life-like experiences in telepresence, AR/VR and beyond. Our method models bodies, hands, facial expressions and appearance in…
Neural representations are popular for representing shapes, as they can be learned form sensor data and used for data cleanup, model completion, shape editing, and shape synthesis. Current neural representations can be categorized as either…
Many natural shapes have most of their characterizing features concentrated over a few regions in space. For example, humans and animals have distinctive head shapes, while inorganic objects like chairs and airplanes are made of…
Realistic dynamic garments on animated characters have many AR/VR applications. While authoring such dynamic garment geometry is still a challenging task, data-driven simulation provides an attractive alternative, especially if it can be…
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
Photorealistic telepresence requires both high-fidelity body modeling and faithful driving to enable dynamically synthesized appearance that is indistinguishable from reality. In this work, we propose an end-to-end framework that addresses…
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…
3D modeling of articulated objects is a research problem within computer vision, graphics, and robotics. Its objective is to understand the shape and motion of the articulated components, represent the geometry and mobility of object parts,…
This paper presents a novel framework to recover detailed human body shapes from a single image. It is a challenging task due to factors such as variations in human shapes, body poses, and viewpoints. Prior methods typically attempt to…
This paper proposes a general approach to design automatic controls to manipulate elastic objects into desired shapes. The object's geometric model is defined as the shape feature based on the specific task to globally describe the…
Human pose estimation is a major computer vision problem with applications ranging from augmented reality and video capture to surveillance and movement tracking. In the medical context, the latter may be an important biomarker for…
The last two decades have seen the emergence and steady development of tangible user interfaces. While most of these interfaces are applied for input - with output still on traditional computer screens - the goal of programmable matter and…
We propose a means of computing fitted frames on the boundary and in the interior of objects and using them to provide the basis for producing geometric features from them that are not only alignment-free but most importantly can be made to…
With systems for acquiring 3D surface data being evermore commonplace, it has become important to reliably extract specific shapes from the acquired data. In the presence of noise and occlusions, this can be done through the use of…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…