Related papers: Self-Body Image Acquisition and Posture Generation…
In this work, we investigate laparoscopic camera motion automation through imitation learning from retrospective videos of laparoscopic interventions. A novel method is introduced that learns to augment a surgeon's behavior in image space…
This paper presents a novel approach for incremental semiparametric inverse dynamics learning. In particular, we consider the mixture of two approaches: Parametric modeling based on rigid body dynamics equations and nonparametric modeling…
In multi-view human body capture systems, the recovered 3D geometry or even the acquired imagery data can be heavily corrupted due to occlusions, noise, limited field of- view, etc. Direct estimation of 3D pose, body shape or motion on…
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…
The use of wearable robots has been widely adopted in rehabilitation training for patients with hand motor impairments. However, the uniqueness of patients' muscle loss is often overlooked. Leveraging reinforcement learning and a…
An autonomous system is presented to solve the problem of in space assembly, which can be used to further the NASA goal of deep space exploration. Of particular interest is the assembly of large truss structures, which requires precise and…
In this paper, we introduce a method for reconstructing 3D humans from a single image using a biomechanically accurate skeleton model. To achieve this, we train a transformer that takes an image as input and estimates the parameters of the…
While many visual ego-motion algorithm variants have been proposed in the past decade, learning based ego-motion estimation methods have seen an increasing attention because of its desirable properties of robustness to image noise and…
Markerless motion capture algorithms require a 3D body with properly personalized skeleton dimension and/or body shape and appearance to successfully track a person. Unfortunately, many tracking methods consider model personalization a…
The musculoskeletal humanoid can move well under environmental contact thanks to its body softness. However, there are few studies that actively make use of the environment to rest its flexible musculoskeletal body. Also, its complex…
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…
Human motion prediction is an essential component for enabling closer human-robot collaboration. The task of accurately predicting human motion is non-trivial. It is compounded by the variability of human motion, both at a skeletal level…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
Driven by recent computer vision and robotic applications, recovering 3D human poses has become increasingly important and attracted growing interests. In fact, completing this task is quite challenging due to the diverse appearances,…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
How to effectively represent camera pose is an essential problem in 3D computer vision, especially in tasks such as camera pose regression and novel view synthesis. Traditionally, 3D position of the camera is represented by Cartesian…
An internal model of the own body can be assumed a fundamental and evolutionary-early representation as it is present throughout the animal kingdom. Such functional models are, on the one hand, required in motor control, for example solving…
Humanoid robots are promising to acquire various skills by imitating human behaviors. However, existing algorithms are only capable of tracking smooth, low-speed human motions, even with delicate reward and curriculum design. This paper…
In the era of the metaverse, self-avatars are gaining popularity, as they can enhance presence and provide embodiment when a user is immersed in Virtual Reality. They are also very important in collaborative Virtual Reality to improve…
In-hand object reorientation is necessary for performing many dexterous manipulation tasks, such as tool use in less structured environments that remain beyond the reach of current robots. Prior works built reorientation systems assuming…