Related papers: Towards Realistic Hand-Object Interaction with Gra…
Among various interactions between humans, such as eye contact and gestures, physical interactions by contact can act as an essential moment in understanding human behaviors. Inspired by this fact, given a 3D partner human with the desired…
We propose a novel system for robot-to-human object handover that emulates human coworker interactions. Unlike most existing studies that focus primarily on grasping strategies and motion planning, our system focus on 1. inferring human…
Grasp generation aims to create complex hand-object interactions with a specified object. While traditional approaches for hand generation have primarily focused on visibility and diversity under scene constraints, they tend to overlook the…
Human-object interaction (HOI) detection often faces high levels of ambiguity and indeterminacy, as the same interaction can appear vastly different across different human-object pairs. Additionally, the indeterminacy can be further…
Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…
Learning how to interact with objects is an important step towards embodied visual intelligence, but existing techniques suffer from heavy supervision or sensing requirements. We propose an approach to learn human-object interaction…
Grounding 3D object affordance seeks to locate objects' ''action possibilities'' regions in the 3D space, which serves as a link between perception and operation for embodied agents. Existing studies primarily focus on connecting visual…
Perceiving potential ``action possibilities'' (\ie, affordance) regions of images and learning interactive functionalities of objects from human demonstration is a challenging task due to the diversity of human-object interactions.…
Reconstructing 3D Human-Object Interaction from an RGB image is essential for perceptive systems. Yet, this remains challenging as it requires capturing the subtle physical coupling between the body and objects. While current methods rely…
Extensive research has been conducted on assessing grasp stability, a crucial prerequisite for achieving optimal grasping strategies, including the minimum force grasping policy. However, existing works employ basic feature-level fusion…
Articulated object generation has seen increasing advancements, yet existing models often lack the ability to be conditioned on text prompts. To address the significant gap between textual descriptions and 3D articulated object…
How can we reconstruct 3D hand poses when large portions of the hand are heavily occluded by itself or by objects? Humans often resolve such ambiguities by leveraging contextual knowledge -- such as affordances, where an object's shape and…
Spatial tactile feedback can enhance the realism of geometry exploration in virtual reality applications. Current vibrotactile approaches often face challenges with the spatial and temporal resolution needed to render different 3D…
Reconstructing 3Ds of hand-object interaction (HOI) is a fundamental problem that can find numerous applications. Despite recent advances, there is no comprehensive pipeline yet for bimanual class-agnostic interaction reconstruction from a…
User interfaces provide an interactive window between physical and virtual environments. A new concept in the field of human-computer interaction is a soft user interface; a compliant surface that facilitates touch interaction through…
Accurately digitizing physical objects is central to many applications, including virtual/augmented reality, industrial design, and e-commerce. Prior research has demonstrated efficient and faithful reconstruction of objects' geometric…
Virtual fixtures assist human operators in teleoperation settings by constraining their actions. This extended abstract introduces a novel virtual fixture formulation \emph{on surfaces} for tactile robotics tasks. Unlike existing methods,…
Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO:an implicit, multi-modal, and continuous representation for…
We propose a haptic system that applies forces or skin deformation to the user's arm, rather than at the fingertips, for believable interaction with virtual objects as an alternative to complex thimble devices. Such a haptic system would be…
While predicting robot grasps with parallel jaw grippers have been well studied and widely applied in robot manipulation tasks, the study on natural human grasp generation with a multi-finger hand remains a very challenging problem. In this…