Related papers: CHORD: Category-level Hand-held Object Reconstruct…
Bimanual manipulation is imperative yet challenging for robots to execute complex tasks, requiring coordinated collaboration between two arms. However, existing methods for bimanual manipulation often rely on costly data collection and…
Dexterous robotic manipulation remains a longstanding challenge in robotics due to the high dimensionality of control spaces and the semantic complexity of object interaction. In this paper, we propose an object affordance-guided…
Posing high-contact interactions is challenging and time-consuming, with hand-object interactions being especially difficult due to the large number of degrees of freedom (DOF) of the hand and the fact that humans are experts at judging…
With the availability of egocentric 3D hand-object interaction datasets, there is increasing interest in developing unified models for hand-object pose estimation and action recognition. However, existing methods still struggle to recognise…
Reconstructing 3Ds of hand-object interaction (HOI) is a fundamental problem that can find numerous applications. Despite recent advances, there is no comprehensive pipeline yet for bimanual class-agnostic interaction reconstruction from a…
For years, researchers have been devoted to generalizable object perception and manipulation, where cross-category generalizability is highly desired yet underexplored. In this work, we propose to learn such cross-category skills via…
Deep generative models have been recently extended to synthesizing 3D digital humans. However, previous approaches treat clothed humans as a single chunk of geometry without considering the compositionality of clothing and accessories. As a…
Robots acting in open environments need to be able to handle novel objects. Based on the observation that objects within a category are often similar in their shapes and usage, we propose an approach for transferring grasping skills from…
We address the challenging task of identifying, segmenting, and tracking hand-held objects, which is crucial for applications such as human action segmentation and performance evaluation. This task is particularly challenging due to heavy…
We propose PHRIT, a novel approach for parametric hand mesh modeling with an implicit template that combines the advantages of both parametric meshes and implicit representations. Our method represents deformable hand shapes using signed…
Dynamic scene reconstruction from casual videos has seen recent remarkable progress. Numerous approaches have attempted to overcome the ill-posedness of the task by distilling priors from 2D foundational models and by imposing hand-crafted…
Transfer of objects between humans and robots is a critical capability for collaborative robots. Although there has been a recent surge of interest in human-robot handovers, most prior research focus on robot-to-human handovers. Further,…
Humans excel in complex long-horizon soft body manipulation tasks via flexible tool use: bread baking requires a knife to slice the dough and a rolling pin to flatten it. Often regarded as a hallmark of human cognition, tool use in…
Large Vision-Language Models (LVLMs) usually suffer from prohibitive computational and memory costs due to the quadratic growth of visual tokens with image resolution. Existing token compression methods, while varied, often lack a…
Existing methods for 3D tracking from monocular RGB videos predominantly consider articulated and rigid objects. Modelling dense non-rigid object deformations in this setting remained largely unaddressed so far, although such effects can…
Object-level manipulation, relocating or reorienting objects in images or videos while preserving scene realism, is central to film post-production, AR, and creative editing. Yet existing methods struggle to jointly achieve three core…
Shape control of deformable objects is a challenging and important robotic problem. This paper proposes a model-free controller using novel 3D global deformation features based on modal analysis. Unlike most existing controllers using…
Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape…
The availability of affordable and portable depth sensors has made scanning objects and people simpler than ever. However, dealing with occlusions and missing parts is still a significant challenge. The problem of reconstructing a (possibly…
Existing hand-object interactions (HOI) methods are largely limited to rigid objects, while 4D reconstruction methods of articulated objects generally require pre-scanning the object or even multi-view videos. It remains an unexplored but…