相关论文: Object Properties Inferring from and Transfer for …

In this paper, we present an approach for robot learning of social affordance from human activity videos. We consider the problem in the context of human-robot interaction: Our approach learns structural representations of human-human (and…

This paper focuses on building object-centric representations for long-term action anticipation in videos. Our key motivation is that objects provide important cues to recognize and predict human-object interactions, especially when the…

Many videos depict people, and it is their interactions that inform us of their activities, relation to one another and the cultural and social setting. With advances in human action recognition, researchers have begun to address the…

Human actions are comprised of a sequence of poses. This makes videos of humans a rich and dense source of human poses. We propose an unsupervised method to learn pose features from videos that exploits a signal which is complementary to…

Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…

We propose a developmental approach that allows a robot to interpret and describe the actions of human agents by reusing previous experience. The robot first learns the association between words and object affordances by manipulating the…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

Shared control can help in teleoperated object manipulation by assisting with the execution of the user's intention. To this end, robust and prompt intention estimation is needed, which relies on behavioral observations. Here, an intention…

Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…

We propose novel motion representations for animating articulated objects consisting of distinct parts. In a completely unsupervised manner, our method identifies object parts, tracks them in a driving video, and infers their motions by…

Human motion prediction aims to forecast future poses given a sequence of past 3D skeletons. While this problem has recently received increasing attention, it has mostly been tackled for single humans in isolation. In this paper, we explore…

We propose a deep learning approach for finding dense correspondences between 3D scans of people. Our method requires only partial geometric information in the form of two depth maps or partial reconstructed surfaces, works for humans in…

Building embodied intelligent agents that can interact with 3D indoor environments has received increasing research attention in recent years. While most works focus on single-object or agent-object visual functionality and affordances, our…

Detecting and recognizing objects interacting with humans lie in the center of first-person (egocentric) daily activity recognition. However, due to noisy camera motion and frequent changes in viewpoint and scale, most of the previous…

While generic object detection has achieved large improvements with rich feature hierarchies from deep nets, detecting small objects with poor visual cues remains challenging. Motion cues from multiple frames may be more informative for…

The aim of this work is to contribute to the development of a tactile device for visually impaired and blind persons in order to let them to understand actions of the surrounding people and to interact with them. First, based on the…

In previous work, we introduced a method for modeling a configuration of objects in 2D and 3D images using a mathematical "medial/skeletal linking structure." In this paper, we show how these structures allow us to capture positional…

Predicting the future interaction of objects when they come into contact with their environment is key for autonomous agents to take intelligent and anticipatory actions. This paper presents a perception framework that fuses visual and…

Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…

Human tactile perception of materials relies on complex multisensory touch cues, yet the relationship between low-level tactile signals and perceptual representations remains poorly understood. This knowledge gap hinders the integration of…