Related papers: HO-Flow: Generalizable Hand-Object Interaction Gen…

Human-object interaction (HOI) detection plays a key role in high-level visual understanding, facilitating a deep comprehension of human activities. Specifically, HOI detection aims to locate the humans and objects involved in interactions…

Egocentric hand-object motion generation is crucial for immersive AR/VR and robotic imitation but remains challenging due to unstable viewpoints, self-occlusions, perspective distortion, and noisy ego-motion. Existing methods rely on…

Synthesizing novel views of dynamic humans from stationary monocular cameras is a specialized but desirable setup. This is particularly attractive as it does not require static scenes, controlled environments, or specialized capture…

Human-Object Interaction (HOI) consists of human, object and implicit interaction/verb. Different from previous methods that directly map pixels to HOI semantics, we propose a novel perspective for HOI learning in an analytical manner. In…

Finding a suitable layout represents a crucial task for diverse applications in graphic design. Motivated by simpler and smoother sampling trajectories, we explore the use of Flow Matching as an alternative to current diffusion-based layout…

Recent advancements in diffusion models have led to significant improvements in the generation and animation of 4D full-body human-object interactions (HOI). Nevertheless, existing methods primarily focus on SMPL-based motion generation,…

Controllable affordance Hand-Object Interaction (HOI) generation has become an increasingly important area of research in computer vision. In HOI generation, the hand grasp generation is a crucial step for effectively controlling the…

We address the problem of generating realistic 3D motions of humans interacting with objects in a scene. Our key idea is to create a neural interaction field attached to a specific object, which outputs the distance to the valid interaction…

Asynchronous inference has emerged as a prevalent paradigm in robotic manipulation, achieving significant progress in ensuring trajectory smoothness and efficiency. However, a systemic challenge remains unresolved, as inherent latency…

Precise object placement remains underexplored in aerial manipulation, where most systems rely on predefined target coordinates and focus primarily on grasping and control. Specifying exact placement poses, however, is cumbersome in…

Detecting human-object interactions (HOI) is an important step toward a comprehensive visual understanding of machines. While detecting non-temporal HOIs (e.g., sitting on a chair) from static images is feasible, it is unlikely even for…

Humanoid robots could benefit from using their upper bodies for support contacts, enhancing their workspace, stability, and ability to perform contact-rich and pushing tasks. In this paper, we propose a unified approach that combines an…

Generating photorealistic 3D hand-object interactions (HOIs) from text is important for applications like robotic grasping and AR/VR content creation. In practice, however, achieving both visual fidelity and physical plausibility remains…

Modeling and capturing the 3D spatial arrangement of the human and the object is the key to perceiving 3D human-object interaction from monocular images. In this work, we propose to use the Human-Object Offset between anchors which are…

This paper introduces ManiFlow, a visuomotor imitation learning policy for general robot manipulation that generates precise, high-dimensional actions conditioned on diverse visual, language and proprioceptive inputs. We leverage flow…

Object handover is a common human collaboration behavior that attracts attention from researchers in Robotics and Cognitive Science. Though visual perception plays an important role in the object handover task, the whole handover process…

Robust and accurate perception of humans in their 3D scene context is essential for integrating robots into everyday environments. Existing approaches, however, often fail to predict plausible and accurate human motion estimates that are…

Manipulation has long been a challenging task for robots, while humans can effortlessly perform complex interactions with objects, such as hanging a cup on the mug rack. A key reason is the lack of a large and uniform dataset for teaching…

We address the task of generating physically accurate and visually faithful 4D Human-Object Interaction (HOI). Given a static 3D human and target object represented as 3D Gaussian Splats (3DGS), our goal is to synthesize dynamic scenes…

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…