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We present a novel, reusable and task-agnostic primitive for assessing the outcome of a force-interaction robotic skill, useful e.g.\ for applications such as quality control in industrial manufacturing. The proposed method is easily…

This paper addresses the problem of 3D hand pose estimation from a monocular RGB image. While previous methods have shown great success, the structure of hands has not been fully exploited, which is critical in pose estimation. To this end,…

Traditional approaches to measurement in upper-limb therapy have gaps that electronic sensing and recording can help fill. We highlight shortcomings in current kinematic recording devices, and we introduce a wrist sensing device that…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing…

Action recognition in still images has seen major improvement in recent years due to advances in human pose estimation, object recognition and stronger feature representations produced by deep neural networks. However, there are still many…

Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…

Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…

Estimating the pose and shape of hands and objects under interaction finds numerous applications including augmented and virtual reality. Existing approaches for hand and object reconstruction require explicitly defined physical constraints…

In this paper, we outline an interleaved acting and planning technique to rapidly reduce the uncertainty of the estimated robot's pose by perceiving relevant information from the environment, as recognizing an object or asking someone for a…

Naturalistic driving action localization task aims to recognize and comprehend human behaviors and actions from video data captured during real-world driving scenarios. Previous studies have shown great action localization performance by…

As robot deployments become more commonplace, people are likely to take on the role of supervising robots (i.e., correcting their mistakes) rather than directly teaching them. Prior works on Learning from Corrections (LfC) have relied on…

In this paper, we present a novel method for self-supervised fine-tuning of pose estimation. Leveraging zero-shot pose estimation, our approach enables the robot to automatically obtain training data without manual labeling. After pose…

3D human motion prediction is a research area of high significance and a challenge in computer vision. It is useful for the design of many applications including robotics and autonomous driving. Traditionally, autogregressive models have…

3D hand pose estimation has received a lot of attention for its wide range of applications and has made great progress owing to the development of deep learning. Existing approaches mainly consider different input modalities and settings,…

We propose a novel learned deep prior of body motion for 3D hand shape synthesis and estimation in the domain of conversational gestures. Our model builds upon the insight that body motion and hand gestures are strongly correlated in…

To proactively navigate and traverse various terrains, active use of visual perception becomes indispensable. We aim to investigate the feasibility and performance of using sparse visual observations to achieve perceptual locomotion over a…

Human actions are comprised of a sequence of poses. This makes videos of humans a rich and dense source of human poses. We propose an unsupervised method to learn pose features from videos that exploits a signal which is complementary to…

Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. In this work, we use unsupervised reinforcement learning to learn a latent…

The task of action-driven human motion prediction aims to forecast future human motion based on the observed sequence while respecting the given action label. It requires modeling not only the stochasticity within human motion but the…