Related papers: StructBiHOI: Structured Articulation Modeling for …
Achieving realistic simulations of humans interacting with a wide range of objects has long been a fundamental goal. Extending physics-based motion imitation to complex human-object interactions (HOIs) is challenging due to intricate…
Text-conditioned human motion generation has experienced significant advancements with diffusion models trained on extensive motion capture data and corresponding textual annotations. However, extending such success to 3D dynamic…
Autonomous robotic assembly of interlocking bricks demands seamless integration of long-horizon task reasoning, spatial grounding, and fine-grained manipulation. This paper presents BrickCraft, a compositional framework designed for…
Dexterous hands enable concurrent prehensile and nonprehensile manipulation, such as holding one object while interacting with another, a capability essential for everyday tasks yet underexplored in robotics. Learning such long-horizon,…
Human-Object Interaction (HOI) detection is a challenging computer vision task that requires visual models to address the complex interactive relationship between humans and objects and predict HOI triplets. Despite the challenges posed by…
Human-object interaction (HOI) video generation has garnered increasing attention due to its promising applications in digital humans, e-commerce, advertising, and robotics imitation learning. However, existing methods face two critical…
Recent studies on 3D hand reconstruction have demonstrated the effectiveness of synthetic training data to improve estimation performance. However, most methods rely on game engines to synthesize hand images, which often lack diversity in…
Humans are highly adaptable, swiftly switching between different modes to progressively handle different tasks, situations and contexts. In Human-object interaction (HOI) activities, these modes can be attributed to two mechanisms: (1) the…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
This paper presents a novel approach to generating the 3D motion of a human interacting with a target object, with a focus on solving the challenge of synthesizing long-range and diverse motions, which could not be fulfilled by existing…
Two-hand reconstruction from monocular images is hampered by complex poses and severe occlusions, which often cause interaction misalignment and two-hand penetration. We address this by decoupling the problem into 2D structural alignment…
Recent world-model-based Vision-Language-Action (VLA) architectures have improved robotic manipulation through predictive visual foresight. However, dense future prediction introduces visual redundancy and accumulates errors, causing…
Modeling human-object interactions (HOI) from an egocentric perspective is a critical yet challenging task, particularly when relying on sparse signals from wearable devices like smart glasses and watches. We present ECHO, the first unified…
Generating realistic 3D Human-Human Interaction (HHI) requires coherent modeling of the physical plausibility of the agents and their interaction semantics. Existing methods compress all motion information into a single latent…
Human-Object Interaction Detection (HOI-DET) aims to localize human-object pairs and identify their interactive relationships. To aggregate contextual cues, existing methods typically propagate information across all detected entities via…
We present a generative model to synthesize 3D shapes as sets of handles -- lightweight proxies that approximate the original 3D shape -- for applications in interactive editing, shape parsing, and building compact 3D representations. Our…
Long-horizon manipulation remains challenging for vision-language-action (VLA) policies: real tasks are multi-step, progress-dependent, and brittle to compounding execution errors. We present LoHo-Manip, a modular framework that scales…
Recently, 3D hand reconstruction has gained more attention in human-computer cooperation, especially for hand-object interaction scenario. However, it still remains huge challenge due to severe hand-occlusion caused by interaction, which…
To address key limitations in human-object interaction (HOI) video generation -- specifically the reliance on curated motion data, limited generalization to novel objects/scenarios, and restricted accessibility -- we introduce…
Human-Object Interaction (HOI) detection is a fundamental task in high-level human-centric scene understanding. We propose PhraseHOI, containing a HOI branch and a novel phrase branch, to leverage language prior and improve relation…