Related papers: Metrics for 3D Object Pointing and Manipulation in…
Pointing gestures are a common interaction method used in Human-Robot Collaboration for various tasks, ranging from selecting targets to guiding industrial processes. This study introduces a method for localizing pointed targets within a…
Bimanual human activities inherently involve coordinated movements of both hands and body. However, the impact of this coordination in activity understanding has not been systematically evaluated due to the lack of suitable datasets. Such…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited scale and diversity of robot demonstration data pose a…
Physics-based motion imitation is central to humanoid control, yet current evaluation metrics (e.g., joint position error) only measure how well a policy imitates but not how difficult the motion itself is. This conflates policy performance…
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…
We introduce a visually-guided and physics-driven task-and-motion planning benchmark, which we call the ThreeDWorld Transport Challenge. In this challenge, an embodied agent equipped with two 9-DOF articulated arms is spawned randomly in a…
Existing human Motion Capture (MoCap) methods mostly focus on the visual similarity while neglecting the physical plausibility. As a result, downstream tasks such as driving virtual human in 3D scene or humanoid robots in real world suffer…
Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as…
Most model-free visual object tracking methods formulate the tracking task as object location estimation given by a 2D segmentation or a bounding box in each video frame. We argue that this representation is limited and instead propose to…
3D multi-person motion prediction is a highly complex task, primarily due to the dependencies on both individual past movements and the interactions between agents. Moreover, effectively modeling these interactions often incurs substantial…
While many individual tasks in the domain of human analysis have recently received an accuracy boost from deep learning approaches, multi-task learning has mostly been ignored due to a lack of data. New synthetic datasets are being…
Unmanned Aerial Vehicles (UAVs), equipped with cameras, are employed in numerous applications, including aerial photography, surveillance, and agriculture. In these applications, robust object detection and tracking are essential for the…
While virtual reality (VR) holds significant potential to revolutionize digital user interaction, how visual information is presented through VR head-mounted displays (HMDs) differs from naturalistic viewing and interactions in physical…
Manipulating an environment remotely with a robotic teleoperator introduces novel electromechanical (EM) dynamics between the user and environment. While considerable effort has focused on minimizing these dynamics, there is limited…
When collaborating face-to-face, people commonly use the surfaces and spaces around them to perform sensemaking tasks, such as spatially organising documents, notes or images. However, when people collaborate remotely using desktop…
Textured meshes significantly enhance the realism and detail of objects by mapping intricate texture details onto the geometric structure of 3D models. This advancement is valuable across various applications, including entertainment,…
We introduce a technique for 3D human keypoint estimation that directly models the notion of spatial uncertainty of a keypoint. Our technique employs a principled approach to modelling spatial uncertainty inspired from techniques in robust…
User's intentions may be expressed through spontaneous gesturing, which have been seen only a few times or never before. Recognizing such gestures involves one shot gesture learning. While most research has focused on the recognition of the…
Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…