Related papers: Diffgrasp: Whole-Body Grasping Synthesis Guided by…
Grasping and manipulating objects is an important human skill. Since most objects are designed to be manipulated by human hands, anthropomorphic hands can enable richer human-robot interaction. Desirable grasps are not only stable, but also…
Synthesizing synchronized and natural co-speech gesture videos remains a formidable challenge. Recent approaches have leveraged motion graphs to harness the potential of existing video data. To retrieve an appropriate trajectory from the…
Denoising diffusion models hold great promise for generating diverse and realistic human motions. However, existing motion diffusion models largely disregard the laws of physics in the diffusion process and often generate…
We introduce a method for generating realistic pedestrian trajectories and full-body animations that can be controlled to meet user-defined goals. We draw on recent advances in guided diffusion modeling to achieve test-time controllability…
Grasp detection is a persistent and intricate challenge with various industrial applications. Recently, many methods and datasets have been proposed to tackle the grasp detection problem. However, most of them do not consider using natural…
Generating 3D scenes from human motion sequences supports numerous applications, including virtual reality and architectural design. However, previous auto-regression-based human-aware 3D scene generation methods have struggled to…
Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents a significant challenge due to the complex geometries…
Recent successes in image synthesis are powered by large-scale diffusion models. However, most methods are currently limited to either text- or image-conditioned generation for synthesizing an entire image, texture transfer or inserting…
Diffusion models have demonstrated remarkable synthesis quality and diversity in generating co-speech gestures. However, the computationally intensive sampling steps associated with diffusion models hinder their practicality in real-world…
The synthesis of human grasping has numerous applications including AR/VR, video games and robotics. While methods have been proposed to generate realistic hand-object interaction for object grasping and manipulation, these typically only…
Natural and expressive human motion generation is the holy grail of computer animation. It is a challenging task, due to the diversity of possible motion, human perceptual sensitivity to it, and the difficulty of accurately describing it.…
Predicting human motion plays a crucial role in ensuring a safe and effective human-robot close collaboration in intelligent remanufacturing systems of the future. Existing works can be categorized into two groups: those focusing on…
Humans inhabit a world defined by interactions -- with other humans, objects, and environments. These interactive movements not only convey our relationships with our surroundings but also demonstrate how we perceive and communicate with…
Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work…
Accepted in the ICIP 2025 We present a novel transformer-based framework for whole-body grasping that addresses both pose generation and motion infilling, enabling realistic and stable object interactions. Our pipeline comprises three…
In this paper, we address the challenge of generating realistic 3D human motions for action classes that were never seen during the training phase. Our approach involves decomposing complex actions into simpler movements, specifically those…
Diffusion models are capable of generating impressive images conditioned on text descriptions, and extensions of these models allow users to edit images at a relatively coarse scale. However, the ability to precisely edit the layout,…
Human body restoration plays a vital role in various applications related to the human body. Despite recent advances in general image restoration using generative models, their performance in human body restoration remains mediocre, often…
Object recognition, commonly performed by a camera, is a fundamental requirement for robots to complete complex tasks. Some tasks require recognizing objects far from the robot's camera. A challenging example is Ultra-Range Gesture…
A dexterous hand capable of grasping any object is essential for the development of general-purpose embodied intelligent robots. However, due to the high degree of freedom in dexterous hands and the vast diversity of objects, generating…