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We propose a new dataset and a novel approach to learning hand-object interaction priors for hand and articulated object pose estimation. We first collect a dataset using visual teleoperation, where the human operator can directly play…
To serve as a scalable data source for embodied AI, world models should act as true simulators that infer interaction dynamics strictly from user actions, rather than mere conditional video generators relying on privileged future object…
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…
Generating human-object interactions (HOIs) is critical with the tremendous advances of digital avatars. Existing datasets are typically limited to humans interacting with a single object while neglecting the ubiquitous manipulation of…
Detecting human-object interaction (HOI) has long been limited by the amount of supervised data available. Recent approaches address this issue by pre-training according to pseudo-labels, which align object regions with HOI triplets parsed…
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
Open-vocabulary human-object interaction (HOI) detection requires recognizing interaction phrases that may not appear as annotated categories during training. Recent vision-language HOI detectors improve semantic transfer by matching…
Interaction is one of the core abilities of humanoid robots. However, most existing frameworks focus on non-interactive whole-body control, which limits their practical applicability. In this work, we develop InterReal, a unified…
Human-object interaction(HOI) detection is a critical task in scene understanding. The goal is to infer the triplet <subject, predicate, object> in a scene. In this work, we note that the human pose itself as well as the relative spatial…
All hand-object interaction is controlled by forces that the two bodies exert on each other, but little work has been done in modeling these underlying forces when doing pose and contact estimation from RGB/RGB-D data. Given the pose of the…
Human-Object Interaction (HOI) detection aims to understand the interactions between humans and objects, which plays a curtail role in high-level semantic understanding tasks. However, most works pursue designing better architectures to…
Human-object interaction (HOI) detection aims to localize human-object pairs and the interactions between them. Existing methods operate under a closed-world assumption, treating the task as a classification problem over a small, predefined…
The goal of this paper is Human-object Interaction (HO-I) detection. HO-I detection aims to find interacting human-objects regions and classify their interaction from an image. Researchers obtain significant improvement in recent years by…
Detecting human-object interactions (HOIs) is an intricate challenge in the field of computer vision. Existing methods for HOI detection heavily rely on appearance-based features, but these may not fully capture all the essential…
Human-Object Interaction (HOI) detection aims to localize human-object pairs and comprehend their interactions. Recently, two-stage transformer-based methods have demonstrated competitive performance. However, these methods frequently focus…
Modeling implicit feature interaction patterns is of significant importance to object detection tasks. However, in the two-stage detectors, due to the excessive use of hand-crafted components, it is very difficult to reason about the…
Generating physically realistic humanoid-object interactions (HOI) is a fundamental challenge in robotics. Existing HOI generation approaches, such as diffusion-based models, often suffer from artifacts such as implausible contacts,…
Synthesizing realistic human-object interaction (HOI) is essential for 3D computer vision and robotics, underpinning animation and embodied control. Existing approaches often require manually specified intermediate waypoints and place all…
Human-Object Interaction (HOI) detection devotes to learn how humans interact with surrounding objects via inferring triplets of < human, verb, object >. However, recent HOI detection methods mostly rely on additional annotations (e.g.,…