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Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…
Multi-person pose understanding from RGB videos involves three complex tasks: pose estimation, tracking and motion forecasting. Intuitively, accurate multi-person pose estimation facilitates robust tracking, and robust tracking builds…
Generalising robotic grasping to previously unseen objects is a key task in general robotic manipulation. The current method for training many antipodal generative grasping models rely on a binary ground truth grasp map generated from the…
Intelligent Object manipulation for grasping is a challenging problem for robots. Unlike robots, humans almost immediately know how to manipulate objects for grasping due to learning over the years. A grown woman can grasp objects more…
Dexterous grasping aims to produce diverse grasping postures with a high grasping success rate. Regression-based methods that directly predict grasping parameters given the object may achieve a high success rate but often lack diversity.…
Generative modeling of human motion has broad applications in computer animation, virtual reality, and robotics. Conventional approaches develop separate models for different motion synthesis tasks, and typically use a model of a small size…
Existing grasp synthesis methods are either analytical or data-driven. The former one is oftentimes limited to specific application scope. The latter one depends heavily on demonstrations, thus suffers from generalization issues; e.g.,…
Data-driven approach for grasping shows significant advance recently. But these approaches usually require much training data. To increase the efficiency of grasping data collection, this paper presents a novel grasp training system…
Cross-embodiment dexterous grasp synthesis refers to adaptively generating and optimizing grasps for various robotic hands with different morphologies. This capability is crucial for achieving versatile robotic manipulation in diverse…
This paper presents a novel object-centric contact representation ContactGen for hand-object interaction. The ContactGen comprises three components: a contact map indicates the contact location, a part map represents the contact hand part,…
Estimating 3D full-body pose from sparse sensor data is a pivotal technique employed for the reconstruction of realistic human motions in Augmented Reality and Virtual Reality. However, translating sparse sensor signals into comprehensive…
3D human pose estimation can be handled by encoding the geometric dependencies between the body parts and enforcing the kinematic constraints. Recently, Transformer has been adopted to encode the long-range dependencies between the joints…
6D pose recognition has been a crucial factor in the success of robotic grasping, and recent deep learning based approaches have achieved remarkable results on benchmarks. However, their generalization capabilities in real-world…
Grasping objects in cluttered scenarios is a challenging task in robotics. Performing pre-grasp actions such as pushing and shifting to scatter objects is a way to reduce clutter. Based on deep reinforcement learning, we propose a…
We want to build robots that are useful in unstructured real world applications, such as doing work in the household. Grasping in particular is an important skill in this domain, yet it remains a challenge. One of the key hurdles is…
We address the problem of action-conditioned generation of human motion sequences. Existing work falls into two categories: forecast models conditioned on observed past motions, or generative models conditioned on action labels and duration…
Pre-defined 3D object templates are widely used in 3D reconstruction of hand-object interactions. However, they often require substantial manual efforts to capture or source, and inherently restrict the adaptability of models to…
In this paper, we present a real-time approach to predict multiple grasping poses for a parallel-plate robotic gripper using RGB images. A model with oriented anchor box mechanism is proposed and a new matching strategy is used during the…
We propose to learn to generate grasping motion for manipulation with a dexterous hand using implicit functions. With continuous time inputs, the model can generate a continuous and smooth grasping plan. We name the proposed model…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…