Related papers: Efficient Hand Articulations Tracking using Adapti…
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…
The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…
Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…
The authentic 3D hand avatar with every identifiable information, such as hand shapes and textures, is necessary for immersive experiences in AR/VR. In this paper, we present a universal hand model (UHM), which 1) can universally represent…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…
Precision grasps with multi-fingered hands are important for precise placement and in-hand manipulation tasks. Searching precision grasps on the object represented by point cloud, is challenging due to the complex object shape,…
This paper introduces the first differentiable simulator of event streams, i.e., streams of asynchronous brightness change signals recorded by event cameras. Our differentiable simulator enables non-rigid 3D tracking of deformable objects…
Building hand-object models for dexterous in-hand manipulation remains a crucial and open problem. Major challenges include the difficulty of obtaining the geometric and dynamical models of the hand, object, and time-varying contacts, as…
Tactile predictive models can be useful across several robotic manipulation tasks, e.g. robotic pushing, robotic grasping, slip avoidance, and in-hand manipulation. However, available tactile prediction models are mostly studied for…
Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile…
The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…
Dexterous manipulation has broad applications in assembly lines, warehouses and agriculture. To perform large-scale manipulation tasks for various objects, a multi-fingered robotic hand sometimes has to sequentially adjust its grasping…
Taller and sleeker smartphone devices are becoming the new norm. More screen space and very responsive touchscreens have made for enjoyable experiences available to us at all times. However, after years of interacting with smaller, portable…
Hand tracking is an important aspect of human-computer interaction and has a wide range of applications in extended reality devices. However, current hand motion capture methods suffer from various limitations. For instance, visual-based…
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
In this paper, we present DIREG3D, a holistic framework for 3D Hand Tracking. The proposed framework is capable of utilizing camera intrinsic parameters, 3D geometry, intermediate 2D cues, and visual information to regress parameters for…
This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within the "Learning from Demonstrations" paradigm. We introduce…
Hand motion capture is a popular research field, recently gaining more attention due to the ubiquity of RGB-D sensors. However, even most recent approaches focus on the case of a single isolated hand. In this work, we focus on hands that…
Grasping algorithms have evolved from planar depth grasping to utilizing point cloud information, allowing for application in a wider range of scenarios. However, data-driven grasps based on models trained on basic open-source datasets may…
The HTC VIVE Ultimate Tracker, utilizing inside-out tracking with internal stereo cameras providing 6 DoF tracking without external cameras, offers a cost-efficient and straightforward setup for motion tracking. Initially designed for the…