Related papers: Towards Realistic Hand-Object Interaction with Gra…
Generating realistic human-human interactions is a challenging task that requires not only high-quality individual body and hand motions, but also coherent coordination among all interactants. Due to limitations in available data and…
The diffusion bridge, which is a diffusion process conditioned on hitting a specific state within a finite period, has found broad applications in various scientific and engineering fields. However, simulating diffusion bridges for modeling…
Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a…
We propose CG-HOI, the first method to address the task of generating dynamic 3D human-object interactions (HOIs) from text. We model the motion of both human and object in an interdependent fashion, as semantically rich human motion rarely…
Contact-rich manipulation is central to many everyday human activities, requiring continuous adaptation to contact uncertainty and external disturbances through multi-modal perception, particularly vision and tactile feedback. While…
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…
This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…
Diffusion model-based inverse problem solvers have shown impressive performance, but are limited in speed, mostly as they require reverse diffusion sampling starting from noise. Several recent works have tried to alleviate this problem by…
Generating high-quality 3D objects from textual descriptions remains a challenging problem due to computational cost, the scarcity of 3D data, and complex 3D representations. We introduce Geometry Image Diffusion (GIMDiffusion), a novel…
We present HapTable; a multimodal interactive tabletop that allows users to interact with digital images and objects through natural touch gestures, and receive visual and haptic feedback accordingly. In our system, hand pose is registered…
Reliable dual-arm grasping is essential for manipulating large and complex objects but remains a challenging problem due to stability, collision, and generalization requirements. Prior methods typically decompose the task into two…
Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with gripper end effectors, multi-fingered…
Diffusion-based policies have shown remarkable capability in executing complex robotic manipulation tasks but lack explicit characterization of geometry and semantics, which often limits their ability to generalize to unseen objects and…
Modern touchscreens utilize capacitive sensing technology to enable precise and robust multi-touch interaction. However, the broader expressive potential of the human hand remains underutilized, since most existing methods directly filter…
Inspired by widely used soft fingers on grasping, we propose a method of rigid-soft interactive learning, aiming at reducing the time of data collection. In this paper, we classify the interaction categories into Rigid-Rigid, Rigid-Soft,…
Multisensory object-centric perception, reasoning, and interaction have been a key research topic in recent years. However, the progress in these directions is limited by the small set of objects available -- synthetic objects are not…
The replication of object stiffness is essential for enhancing haptic feedback in virtual environments. However, existing research has overlooked how stylus stiffness influences the perception of virtual object stiffness during…
We propose a real-time DNN-based technique to segment hand and object of interacting motions from depth inputs. Our model is called DenseAttentionSeg, which contains a dense attention mechanism to fuse information in different scales and…
3D object affordance grounding aims to predict the touchable regions on a 3d object, which is crucial for human-object interaction, human-robot interaction, embodied perception, and robot learning. Recent advances tackle this problem via…
In e-commerce and digital marketing, generating high-fidelity human-product demonstration videos is important for effective product presentation. However, most existing frameworks either fail to preserve the identities of both humans and…