Related papers: Hand-Centric Motion Refinement for 3D Hand-Object …

Physical contact between hands and objects plays a critical role in human grasps. We show that optimizing the pose of a hand to achieve expected contact with an object can improve hand poses inferred via image-based methods. Given a hand…

Motion-controllable image animation is a fundamental task with a wide range of potential applications. Recent works have made progress in controlling camera or object motion via various motion representations, while they still struggle to…

When humans grasp an object, they naturally form trajectories in their minds to manipulate it for specific tasks. Modeling hand-object interaction priors holds significant potential to advance robotic and embodied AI systems in learning to…

Modeling 3D objects in domains like Computer Aided Design (CAD) is time-consuming and comes with a steep learning curve needed to master the design process as well as tool complexities. In order to simplify the modeling process, we designed…

The motion of picking up and placing an object in 3D space is full of subtle detail. Typically these motions are formed from the same constraints, optimizing for swiftness, energy efficiency, as well as physiological limits. Yet, even for…

We present an approach to learn general robot manipulation priors from 3D hand-object interaction trajectories. We build a framework to use in-the-wild videos to generate sensorimotor robot trajectories. We do so by lifting both the human…

Supernumerary robotic limbs (SRLs) are robotic structures integrated closely with the user's body, which augment human physical capabilities and necessitate seamless, naturalistic human-machine interaction. For effective assistance in…

Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…

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…

Synthesizing semantic-aware, long-horizon, human-object interaction is critical to simulate realistic human behaviors. In this work, we address the challenging problem of generating synchronized object motion and human motion guided by…

Since humans interact with diverse objects every day, the holistic 3D capture of these interactions is important to understand and model human behaviour. However, most existing methods for hand-object reconstruction from RGB either assume…

This paper proposes an interaction reasoning network for modelling spatio-temporal relationships between hands and objects in video. The proposed interaction unit utilises a Transformer module to reason about each acting hand, and its…

Generating realistic 3D hand-object interactions (HOI) is a fundamental challenge in computer vision and robotics, requiring both temporal coherence and high-fidelity physical plausibility. Existing methods remain limited in their ability…

Animating human-scene interactions such as pick-and-place tasks in cluttered, complex layouts is a challenging task, with objects of a wide variation of geometries and articulation under scenarios with various obstacles. The main difficulty…

Hands are central to interacting with our surroundings and conveying gestures, making their inclusion essential for full-body motion synthesis. Despite this, existing human motion synthesis methods fall short: some ignore hand motions…

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…

Understanding how humans would behave during hand-object interaction is vital for applications in service robot manipulation and extended reality. To achieve this, some recent works have been proposed to simultaneously forecast hand…

Hand detection is essential for many hand related tasks, e.g. parsing hand pose, understanding gesture, which are extremely useful for robotics and human-computer interaction. However, hand detection in uncontrolled environments is…

3D human interaction generation has emerged as a key research area, focusing on producing dynamic and contextually relevant interactions between humans and various interactive entities. Recent rapid advancements in 3D model representation…

We present a technique for dynamically projecting 3D content onto human hands with short perceived motion-to-photon latency. Computing the pose and shape of human hands accurately and quickly is a challenging task due to their articulated…