相关论文: LISA: Learning Implicit Shape and Appearance of Ha…

Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a…

Dexterous manipulation with a multi-finger hand is one of the most challenging problems in robotics. While recent progress in imitation learning has largely improved the sample efficiency compared to Reinforcement Learning, the learned…

We consider the task of object grasping with a prosthetic hand capable of multiple grasp types. In this setting, communicating the intended grasp type often requires a high user cognitive load which can be reduced adopting shared autonomy…

Recent approaches to jointly reconstruct 3D humans and objects from a single RGB image represent 3D shapes with template-based or coarse models, which fail to capture details of loose clothing on human bodies. In this paper, we introduce a…

Our work aims to reconstruct hand-object interactions from a single-view image, which is a fundamental but ill-posed task. Unlike methods that reconstruct from videos, multi-view images, or predefined 3D templates, single-view…

Low-cost consumer depth cameras and deep learning have enabled reasonable 3D hand pose estimation from single depth images. In this paper, we present an approach that estimates 3D hand pose from regular RGB images. This task has far more…

Palpation, the use of touch in medical examination, is almost exclusively performed by humans. We investigate a proof of concept for an artificial palpation method based on self-supervised learning. Our key idea is that an encoder-decoder…

Hand gesture recognition is becoming a more prevalent mode of human-computer interaction, especially as cameras proliferate across everyday devices. Despite continued progress in this field, gesture customization is often underexplored.…

Humans naturally build mental models of object interactions and dynamics, allowing them to imagine how their surroundings will change if they take a certain action. While generative models today have shown impressive results on…

Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…

Recent studies on 3D hand reconstruction have demonstrated the effectiveness of synthetic training data to improve estimation performance. However, most methods rely on game engines to synthesize hand images, which often lack diversity in…

We introduce and evaluate several architectures for Convolutional Neural Networks to predict the 3D joint locations of a hand given a depth map. We first show that a prior on the 3D pose can be easily introduced and significantly improves…

Human bodies exhibit various shapes for different identities or poses, but the body shape has certain similarities in structure and thus can be embedded in a low-dimensional space. This paper presents an autoencoder-like network…

Functional grasp is essential for enabling dexterous multi-finger robot hands to manipulate objects effectively. However, most prior work either focuses on power grasping, which simply involves holding an object still, or relies on costly…

Our goal is to extract meaningful transformations from raw images, such as varying the thickness of lines in handwriting or the lighting in a portrait. We propose an unsupervised approach to learn such transformations by attempting to…

Hand manipulating objects is an important interaction motion in our daily activities. We faithfully reconstruct this motion with a single RGBD camera by a novel deep reinforcement learning method to leverage physics. Firstly, we propose…

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 present a novel method for monocular hand shape and pose estimation at unprecedented runtime performance of 100fps and at state-of-the-art accuracy. This is enabled by a new learning based architecture designed such that it can make use…

In natural conversation and interaction, our hands often overlap or are in contact with each other. Due to the homogeneous appearance of hands, this makes estimating the 3D pose of interacting hands from images difficult. In this paper we…

Controlling hands in high-dimensional action space has been a longstanding challenge, yet humans naturally perform dexterous tasks with ease. In this paper, we draw inspiration from the concept of internal model exhibited in human behavior…