相关论文: GOAL: Generating 4D Whole-Body Motion for Hand-Obj…

The analysis of human movements has been extensively studied due to its wide variety of practical applications, such as human-robot interaction, human learning applications, or clinical diagnosis. Nevertheless, the state-of-the-art still…

We tackle the challenges of synthesizing versatile, physically simulated human motions for full-body object manipulation. Unlike prior methods that are focused on detailed motion tracking, trajectory following, or teleoperation, our…

This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…

This report reviews recent advancements in human motion prediction, reconstruction, and generation. Human motion prediction focuses on forecasting future poses and movements from historical data, addressing challenges like nonlinear…

To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner.…

The hand plays a pivotal role in human ability to grasp and manipulate objects and controllable grasp synthesis is the key for successfully performing downstream tasks. Existing methods that use human intention or task-level language as…

We present the first image-based generative model of people in clothing for the full body. We sidestep the commonly used complex graphics rendering pipeline and the need for high-quality 3D scans of dressed people. Instead, we learn…

Grasping and manipulating objects is an important human skill. Since most objects are designed to be manipulated by human hands, anthropomorphic hands can enable richer human-robot interaction. Desirable grasps are not only stable, but also…

Generating talking avatars is a fundamental task in video generation. Although existing methods can generate full-body talking avatars with simple human motion, extending this task to grounded human-object interaction (GHOI) remains an open…

In extended reality (XR), generating full-body motion of the users is important to understand their actions, drive their virtual avatars for social interaction, and convey a realistic sense of presence. While prior works focused on…

Recent advancements in video generation have enabled the development of ``world models'' capable of simulating potential futures for robotics and planning. However, specifying precise goals for these models remains a challenge; text…

The physical properties of an object, such as mass, significantly affect how we manipulate it with our hands. Surprisingly, this aspect has so far been neglected in prior work on 3D motion synthesis. To improve the naturalness of the…

We introduce AvatarBooth, a novel method for generating high-quality 3D avatars using text prompts or specific images. Unlike previous approaches that can only synthesize avatars based on simple text descriptions, our method enables the…

Motion generation, the task of synthesizing realistic motion sequences from various conditioning inputs, has become a central problem in computer vision, computer graphics, and robotics, with applications ranging from animation and virtual…

Effectively modeling the interaction between human hands and objects is challenging due to the complex physical constraints and the requirement for high generation efficiency in applications. Prior approaches often employ computationally…

Task-oriented dexterous grasping remains challenging in robotic manipulations of open-world objects under severe partial observation, where significant missing data invalidates generic shape completion. In this paper, to overcome this…

Deep learning-based robotic grasping has made significant progress thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object…

Extended reality (XR) demands generative models that respond to users' tracked real-world motion, yet current video world models accept only coarse control signals such as text or keyboard input, limiting their utility for embodied…

This paper proposes the idea of using a generative adversarial network (GAN) to assist a novice user in designing real-world shapes with a simple interface. The user edits a voxel grid with a painting interface (like Minecraft). Yet, at any…

Human motion synthesis is an important problem with applications in graphics, gaming and simulation environments for robotics. Existing methods require accurate motion capture data for training, which is costly to obtain. Instead, we…