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Alignment between real and virtual objects is a challenging task required for the deployment of Mixed Reality (MR) into manufacturing, medical, and construction applications. To face this challenge, a series of methods have been proposed.…

Existing robotic systems have a clear tension between generality and precision. Deployed solutions for robotic manipulation tend to fall into the paradigm of one robot solving a single task, lacking precise generalization, i.e., the ability…

Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems…

We introduce a novel robotic system for improving unseen object instance segmentation in the real world by leveraging long-term robot interaction with objects. Previous approaches either grasp or push an object and then obtain the…

Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…

Social network analysis provides meaningful information about behavior of network members that can be used for diverse applications such as classification, link prediction. However, network analysis is computationally expensive because of…

Semantic tool segmentation in surgical videos is important for surgical scene understanding and computer-assisted interventions as well as for the development of robotic automation. The problem is challenging because different illumination…

Modeling spinal motion is fundamental to understanding human biomechanics, yet remains underexplored in computer vision due to the spine's complex multi-joint kinematics and the lack of large-scale 3D annotations. We present a…

Articulated objects are pervasive in daily life. However, due to the intrinsic high-DoF structure, the joint states of the articulated objects are hard to be estimated. To model articulated objects, two kinds of shape deformations namely…

Learning to model and reconstruct humans in clothing is challenging due to articulation, non-rigid deformation, and varying clothing types and topologies. To enable learning, the choice of representation is the key. Recent work uses neural…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…

Human actions often involve complex interactions across several inter-related objects in the scene. However, existing approaches to fine-grained video understanding or visual relationship detection often rely on single object representation…

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…

This paper presents ArticuBot, in which a single learned policy enables a robotics system to open diverse categories of unseen articulated objects in the real world. This task has long been challenging for robotics due to the large…

We present BimArt, a novel generative approach for synthesizing 3D bimanual hand interactions with articulated objects. Unlike prior works, we do not rely on a reference grasp, a coarse hand trajectory, or separate modes for grasping and…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

Learning dexterous and agile policy for humanoid and dexterous hand control requires large-scale demonstrations, but collecting robot-specific data is prohibitively expensive. In contrast, abundant human motion data is readily available…

Existing automatic approaches for 3D virtual character motion synthesis supporting scene interactions do not generalise well to new objects outside training distributions, even when trained on extensive motion capture datasets with diverse…

Service robots are expected to autonomously and efficiently work in human-centric environments. For this type of robots, object perception and manipulation are challenging tasks due to need for accurate and real-time response. This paper…