Related papers: Human Grasp Generation for Rigid and Deformable Ob…
Subsurface earth models (referred to as geo-models) are crucial for characterizing complex subsurface systems. Multiple-point statistics are commonly used to generate geo-models. In this paper, a deep-learning-based generative method is…
The ability to extract generative parameters from high-dimensional fields of data in an unsupervised manner is a highly desirable yet unrealized goal in computational physics. This work explores the use of variational autoencoders (VAEs)…
While grasp detection is an important part of any robotic manipulation pipeline, reliable and accurate grasp detection in $SE(3)$ remains a research challenge. Many robotics applications in unstructured environments such as the home or…
Robotic grasp should be carried out in a real-time manner by proper accuracy. Perception is the first and significant step in this procedure. This paper proposes an improved pipeline model trying to detect grasp as a rectangle…
For a complete comprehension of multi-person scenes, it is essential to go beyond basic tasks like detection and tracking. Higher-level tasks, such as understanding the interactions and social activities among individuals, are also crucial.…
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…
The human hand moves in complex and high-dimensional ways, making estimation of 3D hand pose configurations from images alone a challenging task. In this work we propose a method to learn a statistical hand model represented by a…
We introduce DexGanGrasp, a dexterous grasping synthesis method that generates and evaluates grasps with single view in real time. DexGanGrasp comprises a Conditional Generative Adversarial Networks (cGANs)-based DexGenerator to generate…
While generative models have excelled at creating static 3D content, the pursuit of systems that understand how objects move and respond to interactions remains a fundamental challenge. Current methods for articulated motion lie at a…
We tackle the problem of action-conditioned generation of realistic and diverse human motion sequences. In contrast to methods that complete, or extend, motion sequences, this task does not require an initial pose or sequence. Here we learn…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
Recent developments in the field of robot grasping have shown great improvements in the grasp success rates when dealing with unknown objects. In this work we improve on one of the most promising approaches, the Grasp Quality Convolutional…
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…
Dexterous robotic hands enable versatile interactions due to the flexibility and adaptability of multi-fingered designs, allowing for a wide range of task-specific grasp configurations in diverse environments. However, to fully exploit the…
Language-driven dexterous grasp generation requires the models to understand task semantics, 3D geometry, and complex hand-object interactions. While vision-language models have been applied to this problem, existing approaches directly map…
Gastrointestinal (GI) imaging via Wireless Capsule Endoscopy (WCE) generates a large number of images requiring manual screening. Deep learning-based Clinical Decision Support (CDS) systems can assist screening, yet their performance relies…
We propose DeepMetaHandles, a 3D conditional generative model based on mesh deformation. Given a collection of 3D meshes of a category and their deformation handles (control points), our method learns a set of meta-handles for each shape,…
This paper presents a simulator-assisted training method (SimVAE) for variational autoencoders (VAE) that leads to a disentangled and interpretable latent space. Training SimVAE is a two-step process in which first a deep generator…
Many objects, such as tools and household items, can be used only if grasped in a very specific way - grasped functionally. Often, a direct functional grasp is not possible, though. We propose a method for learning a dexterous pre-grasp…
Unifying multimodal understanding, generation and reconstruction representation in a single tokenizer remains a key challenge in building unified models. Previous research predominantly attempts to address this in a dual encoder paradigm,…