Related papers: GOAL: Generating 4D Whole-Body Motion for Hand-Obj…
Grasping manipulation is a fundamental mode for human interaction with daily life objects. The synthesis of grasping motion is also greatly demanded in many applications such as animation and robotics. In objects grasping research field,…
Synthesizing 3D human avatars interacting realistically with a scene is an important problem with applications in AR/VR, video games and robotics. Towards this goal, we address the task of generating a virtual human -- hands and full body…
Training computers to understand, model, and synthesize human grasping requires a rich dataset containing complex 3D object shapes, detailed contact information, hand pose and shape, and the 3D body motion over time. While "grasping" is…
Recent generative models can synthesize high-quality images, but they often fail to generate humans interacting with objects using their hands. This arises mostly from the model's misunderstanding of such interactions and the hardships of…
Hands are dexterous and highly versatile manipulators that are central to how humans interact with objects and their environment. Consequently, modeling realistic hand-object interactions, including the subtle motion of individual fingers,…
Generating high-quality whole-body human object interaction motion sequences is becoming increasingly important in various fields such as animation, VR/AR, and robotics. The main challenge of this task lies in determining the level of…
Human hands possess the dexterity to interact with diverse objects such as grasping specific parts of the objects and/or approaching them from desired directions. More importantly, humans can grasp objects of any shape without…
The synthesis of human grasping has numerous applications including AR/VR, video games and robotics. While methods have been proposed to generate realistic hand-object interaction for object grasping and manipulation, these typically only…
Generating realistic full-body motion interacting with objects is critical for applications in robotics, virtual reality, and human-computer interaction. While existing methods can generate full-body motion within 3D scenes, they often lack…
Can we make virtual characters in a scene interact with their surrounding objects through simple instructions? Is it possible to synthesize such motion plausibly with a diverse set of objects and instructions? Inspired by these questions,…
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…
While predicting robot grasps with parallel jaw grippers have been well studied and widely applied in robot manipulation tasks, the study on natural human grasp generation with a multi-finger hand remains a very challenging problem. In this…
Synthesizing natural human motions that enable a 3D human avatar to walk and reach for arbitrary goals in 3D space remains an unsolved problem with many applications. Existing methods (data-driven or using reinforcement learning) are…
Synthesizing 3D whole bodies that realistically grasp objects is useful for animation, mixed reality, and robotics. This is challenging, because the hands and body need to look natural w.r.t. each other, the grasped object, as well as the…
Human motion generation is a challenging task that aims to create realistic motion imitating natural human behaviour. We focus on the well-studied behaviour of priming an object/location for pick up or put down - that is, the spotting of an…
We present a learning-based method for representing grasp poses of a high-DOF hand using neural networks. Due to redundancy in such high-DOF grippers, there exists a large number of equally effective grasp poses for a given target object,…
Hand-object interaction(HOI) is the fundamental link between human and environment, yet its dexterous and complex pose significantly challenges for gesture control. Despite significant advances in AI and robotics, enabling machines to…
Grasping is an important human activity that has long been studied in robotics, computer vision, and cognitive science. Most existing works study grasping from the perspective of synthesizing hand poses conditioned on 3D or 2D object…
Accepted in the ICIP 2025 We present a novel transformer-based framework for whole-body grasping that addresses both pose generation and motion infilling, enabling realistic and stable object interactions. Our pipeline comprises three…
Generation of realistic high-resolution videos of human subjects is a challenging and important task in computer vision. In this paper, we focus on human motion transfer - generation of a video depicting a particular subject, observed in a…