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Vision and touch are two of the important sensing modalities for humans and they offer complementary information for sensing the environment. Robots could also benefit from such multi-modal sensing ability. In this paper, addressing for the…
Reconstructing photo-realistic drivable human avatars from multi-view image sequences has been a popular and challenging topic in the field of computer vision and graphics. While existing NeRF-based methods can achieve high-quality novel…
In recent years, substantial progress has been achieved in learning-based reconstruction of 3D objects. At the same time, generative models were proposed that can generate highly realistic images. However, despite this success in these…
Haptic feedback is important to make robots more dexterous and effective in unstructured environments. High-resolution haptic sensors are still not widely available, and their application is often bound by the resolution-robustness dilemma.…
In this work, we propose a system that covers the complete workflow for achieving controlled authoring and editing of textures that present distinctive local characteristics. These include various effects that change the surface appearance…
In recent years, there has been rapid development in 3D generation models, opening up new possibilities for applications such as simulating the dynamic movements of 3D objects and customizing their behaviors. However, current 3D generative…
Recently simulation methods have been developed for optical tactile sensors to enable the Sim2Real learning, i.e., firstly training models in simulation before deploying them on the real robot. However, some artefacts in the real objects…
We propose a novel neural rendering pipeline, Hybrid Volumetric-Textural Rendering (HVTR), which synthesizes virtual human avatars from arbitrary poses efficiently and at high quality. First, we learn to encode articulated human motions on…
In this paper, to address the sensitivity and durability trade-off of Vision-based Tactile Sensor (VTSs), we introduce a hyper-sensitive and high-fidelity VTS called HySenSe. We demonstrate that by solely changing one step during the…
Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation…
Reconstructing textured 3D human models from a single image is fundamental for AR/VR and digital human applications. However, existing methods mostly focus on single individuals and thus fail in multi-human scenes, where naive composition…
Based on the DeepSORT algorithm, this study explores the application of visual tracking technology in intelligent human-computer interaction, especially in the field of gesture recognition and tracking. With the rapid development of…
Using simulation to train robot manipulation policies holds the promise of an almost unlimited amount of training data, generated safely out of harm's way. One of the key challenges of using simulation, to date, has been to bridge the…
Providing vibrotactile feedback that corresponds to the state of the virtual texture surfaces allows users to sense haptic properties of them. However, hand-tuning such vibrotactile stimuli for every state of the texture takes much time.…
Tactile perception is important for robotic systems that interact with the world through touch. Touch is an active sense in which tactile measurements depend on the contact properties of an interaction--e.g., velocity, force,…
Creating realistic virtual assets is a time-consuming process: it usually involves an artist designing the object, then spending a lot of effort on tweaking its appearance. Intricate details and certain effects, such as subsurface…
We present a system for learning full-body neural avatars, i.e. deep networks that produce full-body renderings of a person for varying body pose and camera position. Our system takes the middle path between the classical graphics pipeline…
Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…
The human hand is the main medium through which we interact with our surroundings, making its digitization an important problem. While there are several works modeling the geometry of hands, little attention has been paid to capturing…
Stereoscopic, head-tracked display systems can show users realistic, world-locked virtual objects and environments. However, discrepancies between the rendering pipeline and physical viewing conditions can lead to perceived instability in…