Related papers: GEARS: Local Geometry-aware Hand-object Interactio…
In this paper we propose a geometry-aware model for video object detection. Specifically, we consider the setting that cameras can be well approximated as static, e.g. in video surveillance scenarios, and scene pseudo depth maps can…
Generating grasps for a dexterous hand often requires numerous grasping annotations. However, annotating high DoF dexterous hand poses is quite challenging. Especially for functional grasps, requiring the hand to grasp the object in a…
We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…
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…
Accurate real-time tracking of dexterous hand movements and interactions has numerous applications in human-computer interaction, metaverse, robotics, and tele-health. Capturing realistic hand movements is challenging because of the large…
We present a generative model to synthesize 3D shapes as sets of handles -- lightweight proxies that approximate the original 3D shape -- for applications in interactive editing, shape parsing, and building compact 3D representations. Our…
Hand gestures are a natural means of interaction in Augmented Reality and Virtual Reality (AR/VR) applications. Recently, there has been an increased focus on removing the dependence of accurate hand gesture recognition on complex sensor…
Recent methods for zero-shot Human-Object Interaction (HOI) detection typically leverage the generalization ability of large Vision-Language Model (VLM), i.e., CLIP, on unseen categories, showing impressive results on various zero-shot…
Due to the universal non-verbal natural communication approach that allows for effective communication between humans, gesture recognition technology has been steadily developing over the previous few decades. Many different strategies have…
Developments in touch-sensitive textiles have enabled many novel interactive techniques and applications. Our digitally-knitted capacitive active sensors can be manufactured at scale with little human intervention. Their sensitive areas are…
Hand-object pose estimation (HOPE) aims to jointly detect the poses of both a hand and of a held object. In this paper, we propose a lightweight model called HOPE-Net which jointly estimates hand and object pose in 2D and 3D in real-time.…
The availability of low-cost range sensors and the development of relatively robust algorithms for the extraction of skeleton joint locations have inspired many researchers to develop human activity recognition methods using the 3-D data.…
Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…
We propose a novel framework for 3D hand shape reconstruction and hand-object grasp optimization from a single RGB image. The representation of hand-object contact regions is critical for accurate reconstructions. Instead of approximating…
Predicting the future interaction of objects when they come into contact with their environment is key for autonomous agents to take intelligent and anticipatory actions. This paper presents a perception framework that fuses visual and…
Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…
We present a new approach to transfer grasp configurations from prior example objects to novel objects. We assume the novel and example objects have the same topology and similar shapes. We perform 3D segmentation on these objects using…
Human capabilities in understanding visual relations are far superior to those of AI systems, especially for previously unseen objects. For example, while AI systems struggle to determine whether two such objects are visually the same or…
Robotic grasping from single-view observations remains a critical challenge in manipulation. However, existing methods still struggle to generate reliable grasp candidates and stably evaluate grasp feasibility under incomplete geometric…
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…