Related papers: Diffgrasp: Whole-Body Grasping Synthesis Guided by…
Dexterous grasp generation is a fundamental challenge in robotics, requiring both grasp stability and adaptability across diverse objects and tasks. Analytical methods ensure stable grasps but are inefficient and lack task adaptability,…
We propose a novel diffusion-based framework for reconstructing 3D geometry of hand-held objects from monocular RGB images by leveraging hand-object interaction as geometric guidance. Our method conditions a latent diffusion model on an…
Generating realistic human-human interactions is a challenging task that requires not only high-quality individual body and hand motions, but also coherent coordination among all interactants. Due to limitations in available data and…
3D hand-object interaction data is scarce due to the hardware constraints in scaling up the data collection process. In this paper, we propose HOIDiffusion for generating realistic and diverse 3D hand-object interaction data. Our model is a…
Grasping manipulation is a fundamental mode for human interaction with daily life objects. The synthesis of grasping motion is also greatly demanded in many applications such as animation and robotics. In objects grasping research field,…
Generating realistic full-body motion interacting with objects is critical for applications in robotics, virtual reality, and human-computer interaction. While existing methods can generate full-body motion within 3D scenes, they often lack…
This paper addresses a novel task of anticipating 3D human-object interactions (HOIs). Most existing research on HOI synthesis lacks comprehensive whole-body interactions with dynamic objects, e.g., often limited to manipulating small or…
Training computers to understand, model, and synthesize human grasping requires a rich dataset containing complex 3D object shapes, detailed contact information, hand pose and shape, and the 3D body motion over time. While "grasping" is…
Diffusion models have marked a significant milestone in the enhancement of image and video generation technologies. However, generating videos that precisely retain the shape and location of moving objects such as robots remains a…
We have recently seen tremendous progress in diffusion advances for generating realistic human motions. Yet, they largely disregard the multi-human interactions. In this paper, we present InterGen, an effective diffusion-based approach that…
This paper tackles the problem of physics-aware human motion synthesis in a dynamic scene. Unlike existing works which mainly tend to generate physically unrealistic motions due to limited contact modeling, typically restricted to hands, in…
Recent video generation models have achieved remarkable progress and are now deployed in film, social media production, and advertising. Beyond their creative potential, such models also hold promise as world simulators for robotics and…
Diffusion models when conditioned on text prompts, generate realistic-looking images with intricate details. But most of these pre-trained models fail to generate accurate images when it comes to human features like hands, teeth, etc. We…
Generating realistic human motion with high-level controls is a crucial task for social understanding, robotics, and animation. With high-quality MOCAP data becoming more available recently, a wide range of data-driven approaches have been…
In music-driven dance motion generation, most existing methods use hand-crafted features and neglect that music foundation models have profoundly impacted cross-modal content generation. To bridge this gap, we propose a diffusion-based…
Generating digital humans that move realistically has many applications and is widely studied, but existing methods focus on the major limbs of the body, ignoring the hands and head. Hands have been separately studied, but the focus has…
Cross-embodiment dexterous grasping aims to generate stable and diverse grasps for robotic hands with heterogeneous kinematic structures. Existing methods are often tailored to specific hand designs and fail to generalize to unseen hand…
Modeling the physical contacts between the hand and object is standard for refining inaccurate hand poses and generating novel human grasp in 3D hand-object reconstruction. However, existing methods rely on geometric constraints that cannot…
Long-range human movement generation remains a central challenge in computer vision and graphics. Generating coherent transitions across semantically distinct motion domains remains largely unexplored. This capability is particularly…
Human-object interaction (HOI) synthesis is crucial for creating immersive and realistic experiences for applications such as virtual reality. Existing methods often rely on simplified object representations, such as the object's centroid…