Related papers: HandOver: Enabling Precise Selection & Manipulatio…
Synthesizing human motion has advanced rapidly, yet realistic hand motion and bimanual interaction remain underexplored. Whole-body models often miss the fine-grained cues that drive dexterous behavior, finger articulation, contact timing,…
In virtual reality, it is widely assumed that increased realism in hand-object interactions enhances user immersion and overall experience. However, recent studies challenge this assumption, suggesting that faithfully replicating real-world…
Dynamic and dexterous manipulation of objects presents a complex challenge, requiring the synchronization of hand motions with the trajectories of objects to achieve seamless and physically plausible interactions. In this work, we introduce…
Human-robot collaboration (HRC) relies on accurate and timely recognition of human intentions to ensure seamless interactions. Among common HRC tasks, human-to-robot object handovers have been studied extensively for planning the robot's…
Diffusion Handles is a novel approach to enabling 3D object edits on diffusion images. We accomplish these edits using existing pre-trained diffusion models, and 2D image depth estimation, without any fine-tuning or 3D object retrieval. The…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Synthesizing accurate hands-object interactions (HOI) is critical for applications in Computer Vision, Augmented Reality (AR), and Mixed Reality (MR). Despite recent advances, the accuracy of reconstructed or generated HOI leaves room for…
Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, end-effector dexterity, and contact-aware interaction under frequent contact…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
Using touch devices to navigate in virtual 3D environments such as computer assisted design (CAD) models or geographical information systems (GIS) is inherently difficult for humans, as the 3D operations have to be performed by the user on…
In this paper, we present the implementation details of a Virtual Reality (VR)-based teleoperation interface for moving a robotic manipulator. We propose an iterative human-in-the-loop design where the user sets the next task-space waypoint…
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
Hand interactions are increasingly used as the primary input modality in immersive environments, but they are not always feasible due to situational impairments, motor limitations, and environmental constraints. Speech interfaces have been…
Objects manipulated by the hand (i.e., manipulanda) are particularly challenging to reconstruct from Internet videos. Not only does the hand occlude much of the object, but also the object is often only visible in a small number of image…
Self-handover, transferring an object between one's own hands, is a common but understudied bimanual action. While it facilitates seamless transitions in complex tasks, the strategies underlying its execution remain largely unexplored.…
Model-based approaches to 3D hand tracking have been shown to perform well in a wide range of scenarios. However, they require initialisation and cannot recover easily from tracking failures that occur due to fast hand motions. Data-driven…
This paper presents GenH2R, a framework for learning generalizable vision-based human-to-robot (H2R) handover skills. The goal is to equip robots with the ability to reliably receive objects with unseen geometry handed over by humans in…
High-end components that conduct complicated tasks automatically are a part of modern industrial systems. However, in order for these parts to function at the desired level, they need to be maintained by qualified experts. Solutions based…