Related papers: Modeling Dynamic Hand-Object Interactions with App…
We present BimArt, a novel generative approach for synthesizing 3D bimanual hand interactions with articulated objects. Unlike prior works, we do not rely on a reference grasp, a coarse hand trajectory, or separate modes for grasping and…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
Human interaction involves very sophisticated non-verbal communication skills like understanding the goals and actions of others and coordinating our own actions accordingly. Neuroscience refers to this mechanism as motor resonance, in the…
We present a method for teaching machines to understand and model the underlying spatial common sense of diverse human-object interactions in 3D in a self-supervised way. This is a challenging task, as there exist specific manifolds of the…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
Grasping is an incredible ability of animals using their arms and limbs in their daily life. The human hand is an especially astonishing multi-fingered tool for precise grasping, which helped humans to develop the modern world. The…
Functional grasping with dexterous robotic hands is a key capability for enabling tool use and complex manipulation, yet progress has been constrained by two persistent bottlenecks: the scarcity of large-scale datasets and the absence of…
Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…
This paper proposes a novel approach to recognizing dynamic hand gestures facilitating seamless interaction between humans and robots. Here, each robot manipulator task is assigned a specific gesture. There may be several such tasks, hence,…
We present an approach to learn general robot manipulation priors from 3D hand-object interaction trajectories. We build a framework to use in-the-wild videos to generate sensorimotor robot trajectories. We do so by lifting both the human…
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…
Hand-object interaction understanding and the barely addressed novel view synthesis are highly desired in the immersive communication, whereas it is challenging due to the high deformation of hand and heavy occlusions between hand and…
As robots become more prevalent, the complexity of robot-robot, robot-human, and robot-environment interactions increases. In these interactions, a robot needs to consider not only the effects of its own actions, but also the effects of…
The study of hand-object interaction requires generating viable grasp poses for high-dimensional multi-finger models, often relying on analytic grasp synthesis which tends to produce brittle and unnatural results. This paper presents…
In-hand object manipulation is challenging to simulate due to complex contact dynamics, non-repetitive finger gaits, and the need to indirectly control unactuated objects. Further adapting a successful manipulation skill to new objects with…
Generating hand grasps with language instructions is a widely studied topic that benefits from embodied AI and VR/AR applications. While transferring into hand articulatied object interaction (HAOI), the hand grasps synthesis requires not…
Learning physical interaction skills, such as dancing, handshaking, or sparring, remains a fundamental challenge for agents operating in human environments, particularly when the agent's morphology differs significantly from that of the…
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…
We present a novel method for populating 3D indoor scenes with virtual humans that can navigate in the environment and interact with objects in a realistic manner. Existing approaches rely on training sequences that contain captured human…
Designing robotic hands for specific tasks could help in the creation of optimized end-effectors for grasping and manipulation. However the systematic design of robotic hands for a simultaneous task of all fingertips presents many…