Related papers: ARCTIC: A Dataset for Dexterous Bimanual Hand-Obje…
Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…
3D modeling of articulated objects is a research problem within computer vision, graphics, and robotics. Its objective is to understand the shape and motion of the articulated components, represent the geometry and mobility of object parts,…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
The two-hand interaction is one of the most challenging signals to analyze due to the self-similarity, complicated articulations, and occlusions of hands. Although several datasets have been proposed for the two-hand interaction analysis,…
This paper presents ArticuBot, in which a single learned policy enables a robotics system to open diverse categories of unseen articulated objects in the real world. This task has long been challenging for robotics due to the large…
We present HOReeNet, which tackles the novel task of manipulating images involving hands, objects, and their interactions. Especially, we are interested in transferring objects of source images to target images and manipulating 3D hand…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
In this work, we aim to learn dexterous manipulation of deformable objects using multi-fingered hands. Reinforcement learning approaches for dexterous rigid object manipulation would struggle in this setting due to the complexity of physics…
Adept manipulation of articulated objects is essential for robots to operate successfully in human environments. Such manipulation requires both effectiveness--reliable operation despite uncertain object structures--and efficiency--swift…
Object handover is a common human collaboration behavior that attracts attention from researchers in Robotics and Cognitive Science. Though visual perception plays an important role in the object handover task, the whole handover process…
Achieving realistic simulations of humans interacting with a wide range of objects has long been a fundamental goal. Extending physics-based motion imitation to complex human-object interactions (HOIs) is challenging due to intricate…
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…
Human behavior is fundamentally shaped by visual perception -- our ability to interact with the world depends on actively gathering relevant information and adapting our movements accordingly. Behaviors like searching for objects, reaching,…
From dishwashers to cabinets, humans interact with articulated objects every day, and for a robot to assist in common manipulation tasks, it must learn a representation of articulation. Recent deep learning learning methods can provide…
Our work aims to obtain 3D reconstruction of hands and manipulated objects from monocular videos. Reconstructing hand-object manipulations holds a great potential for robotics and learning from human demonstrations. The supervised learning…
Recent advancements in deep learning, computer vision, and embodied AI have given rise to synthetic causal reasoning video datasets. These datasets facilitate the development of AI algorithms that can reason about physical interactions…
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…
Synthesizing whole-body manipulation of articulated objects, including body motion, hand motion, and object motion, is a critical yet challenging task with broad applications in virtual humans and robotics. The core challenges are twofold.…
This paper focuses on a challenging setting of simultaneously modeling geometry and appearance of hand-object interaction scenes without any object priors. We follow the trend of dynamic 3D Gaussian Splatting based methods, and address…
The ability to associate touch with sight is essential for tasks that require physically interacting with objects in the world. We propose a dataset with paired visual and tactile data called Touch and Go, in which human data collectors…