Related papers: CORE4D: A 4D Human-Object-Human Interaction Datase…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

Human communication involves a complex interplay of verbal and nonverbal signals, essential for conveying meaning and achieving interpersonal goals. To develop socially intelligent AI technologies, it is crucial to develop models that can…

Object 6D pose estimation, a crucial task for robotics and augmented reality applications, becomes particularly challenging when dealing with novel objects whose 3D models are not readily available. To reduce dependency on 3D models, recent…

Understanding the 3D motion of articulated objects is essential in robotic scene understanding, mobile manipulation, and motion planning. Prior methods for articulation estimation have primarily focused on controlled settings, assuming…

Segmenting humans in 3D indoor scenes has become increasingly important with the rise of human-centered robotics and AR/VR applications. To this end, we propose the task of joint 3D human semantic segmentation, instance segmentation and…

Estimating the distance of objects is a safety-critical task for autonomous driving. Focusing on short-range objects, existing methods and datasets neglect the equally important long-range objects. In this paper, we introduce a challenging…

Human actions involve complex pose variations and their 2D projections can be highly ambiguous. Thus 3D spatio-temporal or 4D (i.e., 3D+T) human skeletons, which are photometric and viewpoint invariant, are an excellent alternative to 2D+T…

Detecting human-object interactions is essential for comprehensive understanding of visual scenes. In particular, spatial connections between humans and objects are important cues for reasoning interactions. To this end, we propose a…

We introduce a data capture system and a new dataset, HO-Cap, for 3D reconstruction and pose tracking of hands and objects in videos. The system leverages multiple RGBD cameras and a HoloLens headset for data collection, avoiding the use of…

We introduce D3D-HOI: a dataset of monocular videos with ground truth annotations of 3D object pose, shape and part motion during human-object interactions. Our dataset consists of several common articulated objects captured from diverse…

Object rearrangement is a key task for household robots requiring personalization without explicit instructions, meaningful object placement in environments occupied with objects, and generalization to unseen objects and new environments.…

Visual object counting is a fundamental computer vision task underpinning numerous real-world applications, from cell counting in biomedicine to traffic and wildlife monitoring. However, existing methods struggle to handle the challenge of…

Detection of objects in cluttered indoor environments is one of the key enabling functionalities for service robots. The best performing object detection approaches in computer vision exploit deep Convolutional Neural Networks (CNN) to…

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…

Analyzing human motion is a challenging task with a wide variety of applications in computer vision and in graphics. One such application, of particular importance in computer animation, is the retargeting of motion from one performer to…

Character image animation, which synthesizes videos of reference characters driven by pose sequences, has advanced rapidly but remains largely limited to single-human settings. Existing methods struggle to generalize to multi-humanoid…

Hand motion capture data is now relatively easy to obtain, even for complicated grasps; however this data is of limited use without the ability to retarget it onto the hands of a specific character or robot. The target hand may differ…

Recovering 4D from monocular video, which jointly estimates dynamic geometry and camera poses, is an inevitably challenging problem. While recent pointmap-based 3D reconstruction methods (e.g., DUSt3R) have made great progress in…

To understand the visual world, a machine must not only recognize individual object instances but also how they interact. Humans are often at the center of such interactions and detecting human-object interactions is an important practical…

Recent breakthroughs in 3D generation have enabled the synthesis of high-fidelity individual assets. However, generating 3D compositional objects from single images--particularly under occlusions--remains challenging. Existing methods often…