相关论文: Egocentric View Hand Action Recognition by Leverag…

We introduce HOT3D, a publicly available dataset for egocentric hand and object tracking in 3D. The dataset offers over 833 minutes (3.7M+ images) of recordings that feature 19 subjects interacting with 33 diverse rigid objects. In addition…

Existing grasp controllers usually either only support finger-tip grasps or need explicit configuration of the inner forces. We propose a novel grasp controller that supports arbitrary grasp types, including power grasps with…

This paper focuses on the problem of learning 6-DOF grasping with a parallel jaw gripper in simulation. We propose the notion of a geometry-aware representation in grasping based on the assumption that knowledge of 3D geometry is at the…

Object segmentation in infant's egocentric videos is a fundamental step in studying how children perceive objects in early stages of development. From the computer vision perspective, object segmentation in such videos pose quite a few…

Object surface reconstruction brings essential benefits to robot grasping, object recognition, and object manipulation. When measuring the surface distribution of an unknown object by tapping, the greatest challenge is to select tapping…

We introduce the novel problem of anticipating a time series of future hand masks from egocentric video. A key challenge is to model the stochasticity of future head motions, which globally impact the head-worn camera video analysis. To…

Collecting large-scale egocentric video datasets with dense spatial and temporal annotations is costly, slow, and often constrained by environmental biases, privacy constraints, and limited coverage of interaction patterns. While synthetic…

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…

Wearable egocentric cameras and machine learning have the potential to provide clinicians with a more nuanced understanding of patient hand use at home after stroke and spinal cord injury (SCI). However, they require detailed contextual…

This paper presents an approach that reconstructs a hand-held object from a monocular video. In contrast to many recent methods that directly predict object geometry by a trained network, the proposed approach does not require any learned…

In this work, we address a challenging problem of fine-grained and coarse-grained recognition of object manipulation actions. Due to the variations in geometrical and motion constraints, there are different manipulations actions possible to…

The human hand is our primary interface to the physical world, yet egocentric perception rarely knows when, where, or how forcefully it makes contact. Robust wearable tactile sensors are scarce, and no existing in-the-wild datasets align…

Learning an egocentric action recognition model from video data is challenging due to distractors (e.g., irrelevant objects) in the background. Further integrating object information into an action model is hence beneficial. Existing…

We present an approach to learn general robot manipulation priors from 3D hand-object interaction trajectories. We build a framework to use in-the-wild videos to generate sensorimotor robot trajectories. We do so by lifting both the human…

We propose a method for incorporating object interaction and human body dynamics into the task of 3D ego-pose estimation using a head-mounted camera. We use a kinematics model of the human body to represent the entire range of human motion,…

We propose an approach to estimating the 3D pose of a hand, possibly handling an object, given a depth image. We show that we can correct the mistakes made by a Convolutional Neural Network trained to predict an estimate of the 3D pose by…

Egocentric vision is essential for both human and machine visual understanding, particularly in capturing the detailed hand-object interactions needed for manipulation tasks. Translating third-person views into first-person views…

Affordance, defined as the potential actions that an object offers, is crucial for embodied AI agents. For example, such knowledge directs an agent to grasp a knife by the handle for cutting or by the blade for safe handover. While existing…

Egocentric human video data, which captures rich human-environment interactions and can be collected at scale, has become a key driver of embodied intelligence research. However, existing egocentric datasets typically lack tactile sensing,…

A large number of works in egocentric vision have concentrated on action and object recognition. Detection and segmentation of hands in first-person videos, however, has less been explored. For many applications in this domain, it is…