Related papers: CAMS: CAnonicalized Manipulation Spaces for Catego…
We propose a spatial-constraint approach for modeling spatial-based interactions and enabling interactive visualizations, which involves the manipulation of visualizations through selection, filtering, navigation, arrangement, and…
Perception is an essential part of robotic manipulation in a semi-structured environment. Traditional approaches produce a narrow task-specific prediction (e.g., object's 6D pose), that cannot be adapted to other tasks and is ill-suited for…
Human motion synthesis in 3D scenes relies heavily on scene comprehension, while current methods focus mainly on scene structure but ignore the semantic understanding. In this paper, we propose a human motion synthesis framework that take…
We introduce Programmatic Motion Concepts, a hierarchical motion representation for human actions that captures both low-level motion and high-level description as motion concepts. This representation enables human motion description,…
Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…
Animating an object in 3D often requires an articulated structure, e.g. a kinematic chain or skeleton of the manipulated object with proper skinning weights, to obtain smooth movements and surface deformations. However, existing models that…
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…
Modeling human behaviors in contextual environments has a wide range of applications in character animation, embodied AI, VR/AR, and robotics. In real-world scenarios, humans frequently interact with the environment and manipulate various…
A deep understanding of kinematic structures and movable components is essential for enabling robots to manipulate objects and model their own articulated forms. Such understanding is captured through articulated objects, which are…
Humans in contrast to robots are excellent in performing fine manipulation tasks owing to their remarkable dexterity and sensorimotor organization. Enabling robots to acquire such capabilities, necessitates a framework that not only…
Synthesizing camera movements from music and dance is highly challenging due to the contradicting requirements and complexities of dance cinematography. Unlike human movements, which are always continuous, dance camera movements involve…
Synthesizing interaction-involved human motions has been challenging due to the high complexity of 3D environments and the diversity of possible human behaviors within. We present LAMA, Locomotion-Action-MAnipulation, to synthesize natural…
Intelligent agents must autonomously interact with the environments to perform daily tasks based on human-level instructions. They need a foundational understanding of the world to accurately interpret these instructions, along with precise…
This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…
We tackle the challenges of synthesizing versatile, physically simulated human motions for full-body object manipulation. Unlike prior methods that are focused on detailed motion tracking, trajectory following, or teleoperation, our…
The field has made significant progress in synthesizing realistic human motion driven by various modalities. Yet, the need for different methods to animate various body parts according to different control signals limits the scalability of…
Grasping and manipulating objects is an important human skill. Since most objects are designed to be manipulated by human hands, anthropomorphic hands can enable richer human-robot interaction. Desirable grasps are not only stable, but also…
Humans commonly work with multiple objects in daily life and can intuitively transfer manipulation skills to novel objects by understanding object functional regularities. However, existing technical approaches for analyzing and…
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…
Open-world promptable 3D semantic segmentation remains brittle as semantics are inferred in the input sensor coordinates. Yet, humans, in contrast, interpret parts via functional roles in a canonical space -- wings extend laterally, handles…