Related papers: AirGlove: Exploring Egocentric 3D Hand Tracking an…
This paper introduces a dataset for training and evaluating methods for 6D pose estimation of hand-held tools in task demonstrations captured by a standard RGB camera. Despite the significant progress of 6D pose estimation methods, their…
Eye-gaze tracking research offers significant promise in enhancing various healthcare-related tasks, above all in medical image analysis and interpretation. Eye tracking, a technology that monitors and records the movement of the eyes,…
Re-grasp manipulation leverages on ergonomic tools to assist humans in accomplishing diverse tasks. In certain scenarios, humans often employ external forces to effortlessly and precisely re-grasp tools like a hammer. Previous development…
Understanding human interaction with objects is an important research topic for embodied Artificial Intelligence and identifying the objects that humans are interacting with is a primary problem for interaction understanding. Existing…
Recent advancements in learning from human demonstration have shown promising results in addressing the scalability and high cost of data collection required to train robust visuomotor policies. However, existing approaches are often…
We present a novel approach for hand-object action recognition that leverages 2D point tracks as an additional motion cue. While most existing methods rely on RGB appearance, human pose estimation, or their combination, our work…
Designing egocentric 3D hand pose estimation systems that can perform reliably in complex, real-world scenarios is crucial for downstream applications. Previous approaches using RGB or NIR imagery struggle in challenging conditions: RGB…
Tool use, a hallmark feature of human intelligence, remains a challenging problem in robotics due the complex contacts and high-dimensional action space. In this work, we present a novel method to enable reinforcement learning of tool use…
Gesture recognition is mainly apprehensive on analyzing the functionality of human wits. The main goal of gesture recognition is to create a system which can recognize specific human gestures and use them to convey information or for device…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
Egocentric videos are characterised by their ability to have the first person view. With the popularity of Google Glass and GoPro, use of egocentric videos is on the rise. Recognizing action of the wearer from egocentric videos is an…
Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…
3D hand pose estimation in everyday egocentric images is challenging for several reasons: poor visual signal (occlusion from the object of interaction, low resolution & motion blur), large perspective distortion (hands are close to the…
This paper presents a sensorized vision-enabled prosthetic hand aimed at replicating a natural hand's performance, functionality, appearance, and comfort. The design goal was to create an accessible substitution with a user-friendly…
Tactile sensors provide information that can be used to learn and execute manipulation tasks. Different tasks, however, might require different levels of sensory information; which in turn likely affect learning rates and performance. This…
The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…
We present Ring-a-Pose, a single untethered ring that tracks continuous 3D hand poses. Located in the center of the hand, the ring emits an inaudible acoustic signal that each hand pose reflects differently. Ring-a-Pose imposes minimal…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…
Grasping under limited sensing remains a fundamental challenge for real-world robotic manipulation, as vision and high-resolution tactile sensors often introduce cost, fragility, and integration complexity. This work demonstrates that…