相关论文: CPF: Learning a Contact Potential Field to Model t…

Modeling 4D human-object interaction (HOI) is a compelling challenge in computer vision and an essential technology powering virtual and mixed-reality applications. While existing works have achieved promising results on specific HOI…

We address the challenging task of text-driven 3D human-object interaction (HOI) motion generation. Existing methods primarily rely on a direct text-to-HOI mapping, which suffers from three key limitations due to the significant…

Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…

Despite advances in hand-object interaction modeling, generating realistic dexterous manipulation data for robotic hands remains a challenge. Retargeting methods often suffer from low accuracy and fail to account for hand-object…

This paper presents a novel method to control humanoid robot dynamic loco-manipulation with multiple contact modes via multi-contact Model Predictive Control (MPC) framework. The proposed framework includes a multi-contact dynamics model…

Human Object Interaction (HOI) detection is a challenging task that requires to distinguish the interaction between a human-object pair. Attention based relation parsing is a popular and effective strategy utilized in HOI. However, current…

Physical Human-Humanoid Interaction (pHHI) is a rapidly advancing field with significant implications for deploying robots in unstructured, human-centric environments. In this review, we examine the current state of the art in pHHI through…

We introduce NIFT, Neural Interaction Field and Template, a descriptive and robust interaction representation of object manipulations to facilitate imitation learning. Given a few object manipulation demos, NIFT guides the generation of the…

In human-object interactions (HOI) recognition, conventional methods consider the human body as a whole and pay a uniform attention to the entire body region. They ignore the fact that normally, human interacts with an object by using some…

Human-Object Interaction (HOI) detection plays a crucial role in activity understanding. Though significant progress has been made, interactiveness learning remains a challenging problem in HOI detection: existing methods usually generate…

Learning dexterous manipulation from human-object interaction (HOI) data is a scalable alternative to teleoperation, but HOI demonstrations are sparse and provide only kinematic motion that is not directly executable under embodiment…

Amodal completion, which is the process of inferring the full appearance of objects despite partial occlusions, is crucial for understanding complex human-object interactions (HOI) in computer vision and robotics. Existing methods, such as…

Superpixel-based Higher-order Conditional random fields (SP-HO-CRFs) are known for their effectiveness in enforcing both short and long spatial contiguity for pixelwise labelling in computer vision. However, their higher-order potentials…

Digital human motion synthesis is a vibrant research field with applications in movies, AR/VR, and video games. Whereas methods were proposed to generate natural and realistic human motions, most only focus on modeling humans and largely…

Current digital human studies focusing on lip-syncing and body movement are no longer sufficient to meet the growing industrial demand, while human video generation techniques that support interacting with real-world environments (e.g.,…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

The task of Human-Object Interaction (HOI) detection is to detect humans and their interactions with surrounding objects, where transformer-based methods show dominant advances currently. However, these methods ignore the relationship among…

Generating realistic hand-object interactions (HOI) videos is a significant challenge due to the difficulty of modeling physical constraints (e.g., contact and occlusion between hands and manipulated objects). Current methods utilize HOI…

Human-Object Interaction (HOI) Detection is an important problem to understand how humans interact with objects. In this paper, we explore Interactiveness Knowledge which indicates whether human and object interact with each other or not.…

Synthesizing accurate hands-object interactions (HOI) is critical for applications in Computer Vision, Augmented Reality (AR), and Mixed Reality (MR). Despite recent advances, the accuracy of reconstructed or generated HOI leaves room for…