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Human-Object Interaction (HOI) detection has received considerable attention in the context of scene understanding. Despite the growing progress on benchmarks, we realize that existing methods often perform unsatisfactorily on distant…
This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…
On modern industrial assembly lines, many intelligent algorithms have been developed to replace or supervise workers. However, we found that there were bottlenecks in both training datasets and real-time performance when deploying…
Model-based approaches to 3D hand tracking have been shown to perform well in a wide range of scenarios. However, they require initialisation and cannot recover easily from tracking failures that occur due to fast hand motions. Data-driven…
Detecting carried objects is one of the requirements for developing systems to reason about activities involving people and objects. We present an approach to detect carried objects from a single video frame with a novel method that…
Robotic arms are widely used in automatic industries. However, with wide applications of deep learning in robotic arms, there are new challenges such as the allocation of grasping computing power and the growing demand for security. In this…
Over the years various methods have been proposed for the problem of object detection. Recently, we have witnessed great strides in this domain owing to the emergence of powerful deep neural networks. However, there are typically two main…
Identification of high-risk driving situations is generally approached through collision risk estimation or accident pattern recognition. In this work, we approach the problem from the perspective of subjective risk. We operationalize…
In grasp detection, the robot estimates the position and orientation of potential grasp configurations directly from sensor data. This paper explores the relationship between viewpoint and grasp detection performance. Specifically, we…
Hand gesture recognition plays a significant role in human-computer interaction for understanding various human gestures and their intent. However, most prior works can only recognize gestures of limited labeled classes and fail to adapt to…
Drones are conventionally controlled using joysticks, remote controllers, mobile applications, and embedded computers. A few significant issues with these approaches are that drone control is limited by the range of electromagnetic…
The use of Artificial Intelligence (AI) in high-risk, decision-making scenarios presents technical, safety, and normative challenges; problems that may only be ameliorated by human oversight. However, notions of human oversight lack a…
Human pose analysis has garnered significant attention within both the research community and practical applications, owing to its expanding array of uses, including gaming, video surveillance, sports performance analysis, and…
In this paper, we investigate hand gesture classifiers that rely upon the abstracted 'skeletal' data recorded using the RGB-Depth sensor. We focus on 'skeletal' data represented by the body joint coordinates, from the Praxis dataset. The…
This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…
State-of-the-art detection systems are generally evaluated on their ability to exhaustively retrieve objects densely distributed in the image, across a wide variety of appearances and semantic categories. Orthogonal to this, many real-life…
Various heuristic objectives for modeling hand-object interaction have been proposed in past work. However, due to the lack of a cohesive framework, these objectives often possess a narrow scope of applicability and are limited by their…
Visual-based human action recognition can be found in various application fields, e.g., surveillance systems, sports analytics, medical assistive technologies, or human-robot interaction frameworks, and it concerns the identification and…
We present an embodied AI system which receives open-ended natural language instructions from a human, and controls two arms to collaboratively accomplish potentially long-horizon tasks over a large workspace. Our system is modular: it…
Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…