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One of the open challenges in designing robots that operate successfully in the unpredictable human environment is how to make them able to predict what actions they can perform on objects, and what their effects will be, i.e., the ability…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…

Hand detection is essential for many hand related tasks, e.g. parsing hand pose, understanding gesture, which are extremely useful for robotics and human-computer interaction. However, hand detection in uncontrolled environments is…

We address the challenging task of anticipating human-object interaction in first person videos. Most existing methods ignore how the camera wearer interacts with the objects, or simply consider body motion as a separate modality. In…

Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…

Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…

Significant attention is being paid to multi-person pose estimation methods recently, as there has been rapid progress in the field owing to convolutional neural networks. Especially, recent method which exploits part confidence maps and…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

Dynamic locomotion of legged robots is a critical yet challenging topic in expanding the operational range of mobile robots. It requires precise planning when possible footholds are sparse, robustness against uncertainties and disturbances,…

Every hand-object interaction begins with contact. Despite predicting the contact state between hands and objects is useful in understanding hand-object interactions, prior methods on hand-object analysis have assumed that the interacting…

Reinforcement learning requires manual specification of a reward function to learn a task. While in principle this reward function only needs to specify the task goal, in practice reinforcement learning can be very time-consuming or even…

We consider the problem of training a fully convolutional network to estimate the relative 6D pose of a robot given a camera image, when the robot is equipped with independent controllable LEDs placed in different parts of its body. The…

Model-based approaches to 3D hand tracking have been shown to perform well in a wide range of scenarios. However, they require initialisation and cannot recover easily from tracking failures that occur due to fast hand motions. Data-driven…

Robots are expected to replace menial tasks such as housework. Some of these tasks include nonprehensile manipulation performed without grasping objects. Nonprehensile manipulation is very difficult because it requires considering the…

Modeling hand-object manipulations is essential for understanding how humans interact with their environment. While of practical importance, estimating the pose of hands and objects during interactions is challenging due to the large mutual…

Active localization is the problem of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches to this use an information-theoretic criterion for action selection and…

Tremendous amounts of expensive annotated data are a vital ingredient for state-of-the-art 3d hand pose estimation. Therefore, synthetic data has been popularized as annotations are automatically available. However, models trained only with…

In this work, we propose two cost efficient methods for object identification, using a multi-fingered robotic hand equipped with proprioceptive sensing. Both methods are trained on known objects and rely on a limited set of features,…

In this paper the concept of a machine learning based hands-on detection algorithm is proposed. The hand detection is implemented on the hardware side using a capacitive method. A sensor mat in the steering wheel detects a change in…

3D hand pose estimation from RGB images suffers from the difficulty of obtaining the depth information. Therefore, a great deal of attention has been spent on estimating 3D hand pose from 2D hand joints. In this paper, we leverage the…