相关论文: Reconstructing Hand-Object Interactions in the Wil…

Reconstructing dense, volumetric models of real-world 3D scenes is important for many tasks, but capturing large scenes can take significant time, and the risk of transient changes to the scene goes up as the capture time increases. These…

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…

Reconstructing 3D hand mesh robustly from a single image is very challenging, due to the lack of diversity in existing real-world datasets. While data synthesis helps relieve the issue, the syn-to-real gap still hinders its usage. In this…

Fully-supervised monocular 3D hand reconstruction is often difficult because capturing the requisite 3D data entails deploying specialized equipment in a controlled environment. We introduce a weakly-supervised method that avoids such…

We introduce a simple and effective network architecture for monocular 3D hand pose estimation consisting of an image encoder followed by a mesh convolutional decoder that is trained through a direct 3D hand mesh reconstruction loss. We…

3D interacting hand reconstruction is essential to facilitate human-machine interaction and human behaviors understanding. Previous works in this field either rely on auxiliary inputs such as depth images or they can only handle a single…

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…

Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…

While 6D object pose estimation has wide applications across computer vision and robotics, it remains far from being solved due to the lack of annotations. The problem becomes even more challenging when moving to category-level 6D pose,…

Modeling the physical contacts between the hand and object is standard for refining inaccurate hand poses and generating novel human grasp in 3D hand-object reconstruction. However, existing methods rely on geometric constraints that cannot…

Object geometry is key information for robot manipulation. Yet, object reconstruction is a challenging task because cameras only capture partial observations of objects, especially when occlusion occurs. In this paper, we leverage two extra…

Our goal is to learn a deep network that, given a small number of images of an object of a given category, reconstructs it in 3D. While several recent works have obtained analogous results using synthetic data or assuming the availability…

We build the first system to address the problem of reconstructing in-scene object manipulation from a monocular RGB video. It is challenging due to ill-posed scene reconstruction, ambiguous hand-object depth, and the need for physically…

Dexterous hand manipulation increasingly relies on large-scale motion datasets with precise hand-object trajectory data. However, existing resources such as DexYCB and HO3D are primarily optimized for visual alignment but often yield…

Despite the recent efforts in accurate 3D annotations in hand and object datasets, there still exist gaps in 3D hand and object reconstructions. Existing works leverage contact maps to refine inaccurate hand-object pose estimations and…

Interactive object understanding, or what we can do to objects and how is a long-standing goal of computer vision. In this paper, we tackle this problem through observation of human hands in in-the-wild egocentric videos. We demonstrate…

Human mesh recovery can be approached using either regression-based or optimization-based methods. Regression models achieve high pose accuracy but struggle with model-to-image alignment due to the lack of explicit 2D-3D correspondences. In…

Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…

We propose a method to reconstruct global human trajectories from videos in the wild. Our optimization method decouples the camera and human motion, which allows us to place people in the same world coordinate frame. Most existing methods…

Daily tasks require us to use our whole body to manipulate objects, for instance when our hands are unavailable. We consider the issue of providing humanoid robots with the ability to autonomously perform similar whole-body manipulation…