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Human-object interaction (HOI) synthesis is crucial for applications in animation, simulation, and robotics. However, existing approaches either rely on expensive motion capture data or require manual reward engineering, limiting their…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
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…
In this paper we propose FlexHRC+, a hierarchical human-robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
Hand-Object Interaction (HOI) remains a core challenge in digital human video synthesis, where models must generate physically plausible contact and preserve object identity across frames. Although recent HOI reenactment approaches have…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
Current digital human studies focusing on lip-syncing and body movement are no longer sufficient to meet the growing industrial demand, while human video generation techniques that support interacting with real-world environments (e.g.,…
Human-object interaction (HOI) detection plays a key role in high-level visual understanding, facilitating a deep comprehension of human activities. Specifically, HOI detection aims to locate the humans and objects involved in interactions…
We propose CG-HOI, the first method to address the task of generating dynamic 3D human-object interactions (HOIs) from text. We model the motion of both human and object in an interdependent fashion, as semantically rich human motion rarely…
The collaborative robot market is flourishing as there is a trend towards simplification, modularity, and increased flexibility on the production line. But when humans and robots are collaborating in a shared environment, the safety of…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Physical Human-Robot Interaction (pHRI) is critical for implementing Industry 5.0, which focuses on human-centric approaches. However, few studies explore the practical alignment of pHRI to industrial-grade performance. This paper…
In this paper, we introduce a novel conceptual model for a robot's behavioral adaptation in its long-term interaction with humans, integrating dynamic robot role adaptation with principles of flow experience from psychology. This…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…
While large-scale human motion capture datasets have advanced human motion generation, modeling and generating dynamic 3D human-object interactions (HOIs) remain challenging due to dataset limitations. Existing datasets often lack…
Generating realistic hand-object interactions (HOI) videos is a significant challenge due to the difficulty of modeling physical constraints (e.g., contact and occlusion between hands and manipulated objects). Current methods utilize HOI…