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Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…

Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…

This paper proposes an interactive system for mobile devices controlled by hand gestures aimed at helping people with visual impairments. This system allows the user to interact with the device by making simple static and dynamic hand…

Efficient text entry remains a primary bottleneck preventing Virtual Reality (VR) from evolving into a viable productivity platform. To address this, we conducted an empirical comparison of six physical input systems across three…

The advent of immersive Virtual Reality applications has transformed various domains, yet their integration with advanced artificial intelligence technologies like Visual Language Models remains underexplored. This study introduces a…

The generation of industrial Computer-Aided Design (CAD) models from user requests and specifications is crucial to enhancing efficiency in modern manufacturing. Traditional methods of CAD generation rely heavily on manual inputs and…

Illustration is a fundamental mode of human expression and communication. Certain types of motion that accompany speech can provide this illustrative mode of communication. While Augmented and Virtual Reality technologies (AR/VR) have…

In order to optimize the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products, the numerical model. However, in order to be able to avoid…

This paper proposes a novel method for understanding daily hand-object manipulation by developing computer vision-based techniques. Specifically, we focus on recognizing hand grasp types, object attributes and manipulation actions within an…

The human hand moves in complex and high-dimensional ways, making estimation of 3D hand pose configurations from images alone a challenging task. In this work we propose a method to learn a statistical hand model represented by a…

Manufacturing tools like 3D printers have become accessible to the wider society, making the promise of digital fabrication for everyone seemingly reachable. While the actual manufacturing process is largely automated today, users still…

Human-to-Robot handovers are useful for many Human-Robot Interaction scenarios. It is important to recognize when a human intends to initiate handovers, so that the robot does not try to take objects from humans when a handover is not…

Research in linguistics shows that non-verbal cues, such as gestures, play a crucial role in spoken discourse. For example, speakers perform hand gestures to indicate topic shifts, helping listeners identify transitions in discourse. In…

Defining methods for the automatic understanding of gestures is of paramount importance in many application contexts and in Virtual Reality applications for creating more natural and easy-to-use human-computer interaction methods. In this…

The integration of haptics within Augmented Reality may help to deliver an enriched experience, while facilitating the performance of specific actions (e.g. repositioning or resizin ) that are still dependent on the user's skills. This…

Articulated 3D object generation is fundamental for creating realistic, functional, and interactable virtual assets which are not simply static. We introduce MeshArt, a hierarchical transformer-based approach to generate articulated 3D…

Deep generative models of 3D shapes have received a great deal of research interest. Yet, almost all of them generate discrete shape representations, such as voxels, point clouds, and polygon meshes. We present the first 3D generative model…

Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…

Reconstructing textured 3D human models from a single image is fundamental for AR/VR and digital human applications. However, existing methods mostly focus on single individuals and thus fail in multi-human scenes, where naive composition…

We address the challenge of generating 3D articulated objects in a controllable fashion. Currently, modeling articulated 3D objects is either achieved through laborious manual authoring, or using methods from prior work that are hard to…