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We present HRDexDB, a large-scale, multi-modal dataset of high-fidelity dexterous grasping sequences featuring both human and diverse robotic hands. Unlike existing datasets, HRDexDB provides a comprehensive collection of grasping…
Recent advances in humanoid locomotion have enabled dynamic behaviors such as dancing, martial arts, and parkour, yet these capabilities are predominantly demonstrated in open, flat, and obstacle-free settings. In contrast, real-world…
Across a plethora of social situations, we touch others in natural and intuitive ways to share thoughts and emotions, such as tapping to get one's attention or caressing to soothe one's anxiety. A deeper understanding of these…
A car driver knows how to react on the gestures of the traffic officers. Clearly, this is not the case for the autonomous vehicle, unless it has road traffic control gesture recognition functionalities. In this work, we address the…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…
3D generation methods have shown visually compelling results powered by diffusion image priors. However, they often fail to produce realistic geometric details, resulting in overly smooth surfaces or geometric details inaccurately baked in…
We present Human Motions with Objects (HUMOTO), a high-fidelity dataset of human-object interactions for motion generation, computer vision, and robotics applications. Featuring 735 sequences (7,875 seconds at 30 fps), HUMOTO captures…
Physical touch, a fundamental aspect of human social interaction, remains largely absent in real-time virtual communication. We present a haptic-enabled multi-user Virtual Reality (VR) system that facilitates real-time, bi-directional…
This paper comprehensively reviews hand gesture datasets based on Ultraleap's leap motion controller, a popular device for capturing and tracking hand gestures in real-time. The aim is to offer researchers and practitioners a valuable…
We present a dataset for force-grounded, cross-view articulated manipulation that couples what is seen with what is done and what is felt during real human interaction. The dataset contains 3048 sequences across 381 articulated objects in…
Tactile perception has the potential to significantly enhance dexterous robotic manipulation by providing rich local information that can complement or substitute for other sensory modalities such as vision. However, because tactile sensing…
Objective The coordination of human movement directly reflects function of the central nervous system. Small deficits in movement are often the first sign of an underlying neurological problem. The objective of this research is to develop a…
Human movement analysis is a key area of research in robotics, biomechanics, and data science. It encompasses tracking, posture estimation, and movement synthesis. While numerous methodologies have evolved over time, a systematic and…
To assist robots in teleoperation tasks, haptic rendering which allows human operators access a virtual touch feeling has been developed in recent years. Most previous haptic rendering methods strongly rely on data collected by tactile…
Over the past decade, 3D graphics have become highly detailed to mimic the real world, exploding their size and complexity. Certain applications and device constraints necessitate their simplification and/or lossy compression, which can…
Modern audio-visual media rely on compact representations for efficient storage and transmission, whereas realistic digital touch still depends on high-resolution tactile recordings. Existing approaches for representing tactile signals…
Object manipulation is fundamental to virtual reality (VR) applications, yet conventional fingertip haptic devices fail to render certain tactile features relevant for immersive and precise interactions, as i.e. detection of edges. This…
The volumetric representation of human interactions is one of the fundamental domains in the development of immersive media productions and telecommunication applications. Particularly in the context of the rapid advancement of Extended…
With the rapid development of augmented reality (AR) and virtual reality (VR) technology, human-computer interaction (HCI) has been greatly improved for gaming interaction of AR and VR control. The finger micro-gesture is one of the…