Related papers: HandOver: Enabling Precise Selection & Manipulatio…
Pointing gestures are a common interaction method used in Human-Robot Collaboration for various tasks, ranging from selecting targets to guiding industrial processes. This study introduces a method for localizing pointed targets within a…
Hand pose represents key information for action recognition in the egocentric perspective, where the user is interacting with objects. We propose to improve egocentric 3D hand pose estimation based on RGB frames only by using pseudo-depth…
Dynamic in air handover is a fundamental challenge for dual-arm robots, requiring accurate perception, precise coordination, and natural motion. Prior methods often rely on dynamics models, strong priors, or depth sensing, limiting…
As a result of an increasingly automatized and digitized industry, processes are becoming more complex. Augmented Reality has shown considerable potential in assisting workers with complex tasks by enhancing user understanding and…
Today there is a high variety of haptic devices capable of providing tactile feedback. Although most of existing designs are aimed at realistic simulation of the surface properties, their capabilities are limited in attempts of displaying…
Object selection in Mixed Reality (MR) becomes particularly challenging in dense or occluded environments, where traditional mid-air ray-casting often leads to ambiguity and reduced precision. We present two complementary techniques: (1) a…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in…
We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…
Accurate 3D reconstruction of the hand and object shape from a hand-object image is important for understanding human-object interaction as well as human daily activities. Different from bare hand pose estimation, hand-object interaction…
Capturing the interactions between humans and their environment in 3D is important for many applications in robotics, graphics, and vision. Recent works to reconstruct the 3D human and object from a single RGB image do not have consistent…
Estimating the 3D hand articulation from a single color image is an important problem with applications in Augmented Reality (AR), Virtual Reality (VR), Human-Computer Interaction (HCI), and robotics. Apart from the absence of depth…
We propose a new dataset and a novel approach to learning hand-object interaction priors for hand and articulated object pose estimation. We first collect a dataset using visual teleoperation, where the human operator can directly play…
Across a plethora of social situations, we touch others in natural and intuitive ways to share thoughts and emotions, such as tapping to get one's attention or caressing to soothe one's anxiety. A deeper understanding of these…
Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…
Accurate 3D understanding of human hands and objects during manipulation remains a significant challenge for egocentric computer vision. Existing hand-object interaction datasets are predominantly captured in controlled studio settings,…
Desktop environments can integrate augmented reality (AR) head-worn devices to support 3D representations, visualizations, and interactions in a novel yet familiar setting. As users navigate across the dual realities -- desktop and AR -- a…
Robotic manipulators are increasingly used to assist individuals with mobility impairments in object retrieval. However, the predominant joystick-based control interfaces can be challenging due to high precision requirements and unintuitive…
This paper introduces the first text-guided work for generating the sequence of hand-object interaction in 3D. The main challenge arises from the lack of labeled data where existing ground-truth datasets are nowhere near generalizable in…
Augmented reality (AR) offers immersive interaction but remains inaccessible for users with motor impairments or limited dexterity due to reliance on precise input methods. This study proposes a gesture-based interaction system for AR…