相关论文: Hand-Object Contact Prediction via Motion-Based Ps…

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…

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…

This paper presents a method to learn hand-object interaction prior for reconstructing a 3D hand-object scene from a single RGB image. The inference as well as training-data generation for 3D hand-object scene reconstruction is challenging…

This paper introduces a motion retargeting method that preserves self-contacts and prevents interpenetration. Self-contacts, such as when hands touch each other or the torso or the head, are important attributes of human body language and…

Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear…

Tactile data and kinesthetic cues are two important sensing sources in robot object recognition and are complementary to each other. In this paper, we propose a novel algorithm named Iterative Closest Labeled Point (iCLAP) to recognize…

Online Multi-Object Tracking (MOT) from videos is a challenging computer vision task which has been extensively studied for decades. Most of the existing MOT algorithms are based on the Tracking-by-Detection (TBD) paradigm combined with…

We construct the first markerless deformable interaction dataset recording interactive motions of the hands and deformable objects, called HMDO (Hand Manipulation with Deformable Objects). With our built multi-view capture system, it…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

Unsupervised object-centric learning methods allow the partitioning of scenes into entities without additional localization information and are excellent candidates for reducing the annotation burden of multiple-object tracking (MOT)…

How human interact with objects depends on the functional roles of the target objects, which introduces the problem of affordance-aware hand-object interaction. It requires a large number of human demonstrations for the learning and…

Human behavior is a continuous stochastic spatio-temporal process which is governed by semantic actions and affordances as well as latent factors. Therefore, video-based human activity modeling is concerned with a number of tasks such as…

Estimating the poses of both a hand and an object has become an important area of research due to the growing need for advanced vision computing. The primary challenge involves understanding and reconstructing how hands and objects…

Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…

3D object detection is an important yet demanding task that heavily relies on difficult to obtain 3D annotations. To reduce the required amount of supervision, we propose 3DIoUMatch, a novel semi-supervised method for 3D object detection…

Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…

In this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact…

Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…

In this paper we introduce the problem of Visual Semantic Role Labeling: given an image we want to detect people doing actions and localize the objects of interaction. Classical approaches to action recognition either study the task of…

We propose a novel framework for the task of object-centric video prediction, i.e., extracting the compositional structure of a video sequence, as well as modeling objects dynamics and interactions from visual observations in order to…