Related papers: Support Relation Analysis for Objects in Multiple …
Many approaches have been proposed for human pose estimation in single and multi-view RGB images. However, some environments, such as the operating room, are still very challenging for state-of-the-art RGB methods. In this paper, we propose…
Humans can easily understand a single image as depicting multiple potential objects permitting interaction. We use this skill to plan our interactions with the world and accelerate understanding new objects without engaging in interaction.…
Spatial relationships between objects provide important information for text-based image retrieval. As users are more likely to describe a scene from a real world perspective, using 3D spatial relationships rather than 2D relationships that…
This paper presents a comprehensive pipeline for recognizing objects targeted by human pointing gestures using RGB images. As human-robot interaction moves toward more intuitive interfaces, the ability to identify targets of non-verbal…
Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
In this paper, we introduce a method to automatically reconstruct the 3D motion of a person interacting with an object from a single RGB video. Our method estimates the 3D poses of the person together with the object pose, the contact…
Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. Developmental…
We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…
Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…
One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of orthogonal walls and…
Visual relationship detection, as a challenging task used to find and distinguish the interactions between object pairs in one image, has received much attention recently. In this work, we propose a novel visual relationship detection…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Capturing the interactions between humans and their environment in 3D is important for many applications in robotics, graphics, and vision. Recent works to reconstruct the 3D human and object from a single RGB image do not have consistent…
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…
Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…
We propose an end-to-end trainable, cross-category method for reconstructing multiple man-made articulated objects from a single RGBD image, focusing on part-level shape reconstruction and pose and kinematics estimation. We depart from…