Related papers: Physically Grounded 3D Generative Reconstruction u…

Scalable learning of dexterous manipulation remains bottlenecked by the difficulty of collecting natural, high-fidelity human demonstrations of multi-finger hands due to occlusion, complex hand kinematics, and contact-rich interactions. We…

Soft robotic hand shows considerable promise for various grasping applications. However, the sensing and reconstruction of the robot pose will cause limitation during the design and fabrication. In this work, we present a novel 3D pose…

Contactless hand pose estimation requires sensors that provide precise spatial information and low computational complexity for real-time processing. Unlike vision-based systems, radar offers lighting independence and direct motion…

Language-driven dexterous grasp generation requires the models to understand task semantics, 3D geometry, and complex hand-object interactions. While vision-language models have been applied to this problem, existing approaches directly map…

Reconstructing the three-dimensional (3D) geometry of object surfaces is essential for robot perception, yet vision-based approaches are generally unreliable under low illumination or occlusion. This limitation motivates the design of a…

Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that…

Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…

Grounding 3D object affordance is a task that locates objects in 3D space where they can be manipulated, which links perception and action for embodied intelligence. For example, for an intelligent robot, it is necessary to accurately…

Low-cost autonomous agents including autonomous driving vehicles chiefly adopt monocular 3D object detection to perceive surrounding environment. This paper studies 3D intermediate representation methods which generate intermediate 3D…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

We introduce a neural implicit representation for grasps of objects from multiple robotic hands. Different grasps across multiple robotic hands are encoded into a shared latent space. Each latent vector is learned to decode to the 3D shape…

Despite remarkable progress in image generation models, generating realistic hands remains a persistent challenge due to their complex articulation, varying viewpoints, and frequent occlusions. We present FoundHand, a large-scale…

We present a novel method for monocular hand shape and pose estimation at unprecedented runtime performance of 100fps and at state-of-the-art accuracy. This is enabled by a new learning based architecture designed such that it can make use…

The ubiquity of monocular videos capturing daily hand-object interactions presents a valuable resource for embodied intelligence. While 3D hand reconstruction from in-the-wild videos has seen significant progress, reconstructing the…

Narrated instructional videos often show and describe manipulations of similar objects, e.g., repairing a particular model of a car or laptop. In this work we aim to reconstruct such objects and to localize associated narrations in 3D.…

Accurately estimating 3D hand pose is crucial for understanding how humans interact with the world. Despite remarkable progress, existing methods often struggle to generate plausible hand poses when the hand is heavily occluded or blurred.…

Bimanual manipulation requires policies that can reason about 3D geometry, anticipate how it evolves under action, and generate smooth, coordinated motions. However, existing methods typically rely on 2D features with limited spatial…

Occlusion poses a great threat to monocular multi-person 3D human pose estimation due to large variability in terms of the shape, appearance, and position of occluders. While existing methods try to handle occlusion with pose…

Human motion generation has advanced rapidly in recent years, yet the critical problem of creating spatially grounded, context-aware gestures has been largely overlooked. Existing models typically specialize either in descriptive motion…

Although diffusion-based image virtual try-on has made considerable progress, emerging approaches still struggle to effectively address the issue of hand occlusion (i.e., clothing regions occluded by the hand part), leading to a notable…