Related papers: iPOKE: Poking a Still Image for Controlled Stochas…
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,…
Pose based video sychronization can have applications in multiple domains such as gameplay performance evaluation, choreography or guiding athletes. The subject's actions could be compared and evaluated against those performed by…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
Filmmaking and animation production often require sophisticated techniques for coordinating camera transitions and object movements, typically involving labor-intensive real-world capturing. Despite advancements in generative AI for video…
Motion capture from sparse inertial sensors has shown great potential compared to image-based approaches since occlusions do not lead to a reduced tracking quality and the recording space is not restricted to be within the viewing frustum…
Robotic manipulation in everyday scenarios, especially in unstructured environments, requires skills in pose-aware object manipulation (POM), which adapts robots' grasping and handling according to an object's 6D pose. Recognizing an…
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…
We present a novel approach to interactive 3D object perception for robots. Unlike previous perception algorithms that rely on known object models or a large amount of annotated training data, we propose a poking-based approach that…
Motion control is crucial for generating expressive and compelling video content; however, most existing video generation models rely mainly on text prompts for control, which struggle to capture the nuances of dynamic actions and temporal…
To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…
In this paper, we research the new topic of object effects recommendation in micro-video platforms, which is a challenging but important task for many practical applications such as advertisement insertion. To avoid the problem of…
Efficient interaction with the visual world requires not only accurate object identification but also precise localization of objects in space. While spatial ("where") processing has traditionally been attributed to dorsal stream pathways,…
Robots deployed in settings such as warehouses and parking lots must cope with frequent and substantial changes when localizing in their environments. While many previous localization and mapping algorithms have explored methods of…
Stokesian Dynamics is a well-established computational method for simulating dynamics of many particles suspended in a conventional passive fluid medium. Active fluids composed of self-propelling particles with broken time reversal symmetry…
Depictions of similar human body configurations can vary with changing viewpoints. Using only 2D information, we would like to enable vision algorithms to recognize similarity in human body poses across multiple views. This ability is…
Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other…
This paper presents a motion data augmentation scheme incorporating motion synthesis encouraging diversity and motion correction imposing physical plausibility. This motion synthesis consists of our modified Variational AutoEncoder (VAE)…
We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about…
As we move through the world, the pattern of light projected on our eyes is complex and dynamic, yet we are still able to distinguish between moving and stationary objects. We propose that humans accomplish this by exploiting constraints…
Despite the significant progress in six degrees-of-freedom (6DoF) object pose estimation, existing methods have limited applicability in real-world scenarios involving embodied agents and downstream 3D vision tasks. These limitations mainly…