相关论文: COUCH: Towards Controllable Human-Chair Interactio…
In this work, we build on our method for manipulating unknown objects via contact configuration regulation: the estimation and control of the location, geometry, and mode of all contacts between the robot, object, and environment. We…
Many videos depict people, and it is their interactions that inform us of their activities, relation to one another and the cultural and social setting. With advances in human action recognition, researchers have begun to address the…
We propose ChainHOI, a novel approach for text-driven human-object interaction (HOI) generation that explicitly models interactions at both the joint and kinetic chain levels. Unlike existing methods that implicitly model interactions using…
When executing whole-body motions, humans are able to use a large variety of support poses which not only utilize the feet, but also hands, knees and elbows to enhance stability. While there are many works analyzing the transitions involved…
The ability to associate touch with sight is essential for tasks that require physically interacting with objects in the world. We propose a dataset with paired visual and tactile data called Touch and Go, in which human data collectors…
Supporting real-time interactions between human controllers and remote devices remains a challenging goal in the Metaverse due to the stringent requirements on computing workload, communication throughput, and round-trip latency. In this…
We present GASPACHO, a method for generating photorealistic, controllable renderings of human-object interactions from multi-view RGB video. Unlike prior work that reconstructs only the human and treats objects as background, GASPACHO…
Daily objects embedded in a contextual environment are often ungraspable initially. Whether it is a book sandwiched by other books on a fully packed bookshelf or a piece of paper lying flat on the desk, a series of nonprehensile pregrasp…
Existing pose estimation models perform poorly on wheelchair users due to a lack of representation in training data. We present a data synthesis pipeline to address this disparity in data collection and subsequently improve pose estimation…
Across a plethora of social situations, we touch others in natural and intuitive ways to share thoughts and emotions, such as tapping to get one's attention or caressing to soothe one's anxiety. A deeper understanding of these…
Recent advancements in language models have demonstrated their adeptness in conducting multi-turn dialogues and retaining conversational context. However, this proficiency remains largely unexplored in other multimodal generative models,…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
Recent successes in image synthesis are powered by large-scale diffusion models. However, most methods are currently limited to either text- or image-conditioned generation for synthesizing an entire image, texture transfer or inserting…
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…
Creating expressive character animations is labor-intensive, requiring intricate manual adjustment of animators across space and time. Previous works on controllable motion generation often rely on a predefined set of dense spatio-temporal…
Teaching systems physical tasks is a long standing goal in HCI, yet most prior work has focused on non collaborative physical activities. Collaborative tasks introduce added complexity, requiring systems to infer users assumptions about…
Generating physically plausible dynamic motions of human-object interaction (HOI) remains challenging, mainly due to existing HOI datasets limited to static interactions, and pretrained agents capable of either dynamic full-body motions…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…
Designing artificial cyber-agents able to interact with human safely, smartly and in a natural way is a current open problem in control. Solving such an issue will allow the design of cyber-agents capable of co-operatively interacting with…