相关论文: Kinematics-Guided Reinforcement Learning for Objec…

The 3D world limits the human body pose and the human body pose conveys information about the surrounding objects. Indeed, from a single image of a person placed in an indoor scene, we as humans are adept at resolving ambiguities of the…

We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios. Instead of directly regressing the 3D bounding box using end-to-end approaches, we propose to use…

We present EgoAllo, a system for human motion estimation from a head-mounted device. Using only egocentric SLAM poses and images, EgoAllo guides sampling from a conditional diffusion model to estimate 3D body pose, height, and hand…

Reconstructing 3D human-object interaction (HOI) from single-view RGB images is challenging due to the absence of depth information and potential occlusions. Existing methods simply predict the body poses merely rely on network training on…

We propose an approach to estimate 3D human pose in real world units from a single RGBD image and show that it exceeds performance of monocular 3D pose estimation approaches from color as well as pose estimation exclusively from depth. Our…

In this work we study the use of 3D hand poses to recognize first-person dynamic hand actions interacting with 3D objects. Towards this goal, we collected RGB-D video sequences comprised of more than 100K frames of 45 daily hand action…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

In this work, we develop an automated method to generate 3D human walking motion in simulation which is comparable to real-world human motion. At the core, our work leverages the ability of deep reinforcement learning methods to learn…

Egocentric 3D human pose estimation has been actively studied using cameras installed in front of a head-mounted device (HMD). While frontal placement is the optimal and the only option for some tasks, such as hand tracking, it remains…

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 introduce an object-aware decoder for improving the performance of spatio-temporal representations on ego-centric videos. The key idea is to enhance object-awareness during training by tasking the model to predict hand positions, object…

In this paper, we propose a novel self-supervised learning model for estimating continuous ego-motion from video. Our model learns to estimate camera motion by watching RGBD or RGB video streams and determining translational and rotation…

Animating an avatar that reflects a user's action in the VR world enables natural interactions with the virtual environment. It has the potential to allow remote users to communicate and collaborate in a way as if they met in person.…

We propose an action-conditioned dynamics model that predicts scene changes caused by object and agent interactions in a viewpoint-invariant 3D neural scene representation space, inferred from RGB-D videos. In this 3D feature space, objects…

Learning to solve precision-based manipulation tasks from visual feedback using Reinforcement Learning (RL) could drastically reduce the engineering efforts required by traditional robot systems. However, performing fine-grained motor…

Estimating 3D hand and object pose from a single image is an extremely challenging problem: hands and objects are often self-occluded during interactions, and the 3D annotations are scarce as even humans cannot directly label the…

Estimating camera wearer's body pose from an egocentric view (egopose) is a vital task in augmented and virtual reality. Existing approaches either use a narrow field of view front facing camera that barely captures the wearer, or an…

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…

We train models to Predict Ego-centric Video from human Actions (PEVA), given the past video and an action represented by the relative 3D body pose. By conditioning on kinematic pose trajectories, structured by the joint hierarchy of the…

Existing automatic approaches for 3D virtual character motion synthesis supporting scene interactions do not generalise well to new objects outside training distributions, even when trained on extensive motion capture datasets with diverse…