相关论文: Physical Interaction: Reconstructing Hand-object I…

Accurate capture of human-object interaction from ubiquitous sensors like RGB cameras is important for applications in human understanding, gaming, and robot learning. However, inferring 4D interactions from a single RGB view is highly…

We introduce MultiPhys, a method designed for recovering multi-person motion from monocular videos. Our focus lies in capturing coherent spatial placement between pairs of individuals across varying degrees of engagement. MultiPhys, being…

This paper shows that accurate underwater 3D shape reconstruction is possible using a single camera, observing a target through a refractive interface. We provide unified reconstruction techniques for a variety of scenarios such as single…

Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…

This paper presents a novel approach to numerically describe the interactions between rigid bodies, with a special focus on robotic grasping. Some of the more common approaches used to address such issues rely on satisfaction of a set of…

We propose a novel task of text-controlled human object interaction generation in 3D scenes with movable objects. Existing human-scene interaction datasets suffer from insufficient interaction categories and typically only consider…

We propose a new dataset and a novel approach to learning hand-object interaction priors for hand and articulated object pose estimation. We first collect a dataset using visual teleoperation, where the human operator can directly play…

We propose a spatial-constraint approach for modeling spatial-based interactions and enabling interactive visualizations, which involves the manipulation of visualizations through selection, filtering, navigation, arrangement, and…

We propose an end-to-end trainable, cross-category method for reconstructing multiple man-made articulated objects from a single RGBD image, focusing on part-level shape reconstruction and pose and kinematics estimation. We depart from…

We investigate a method to modulate contact forces between the soft fingers of a two-finger gripper and an object, without relying on tactile sensors. This work is a follow-up to our previous results on contact detection. Here, our…

This paper presents a real-time solution for collision detection between objects based on the physics properties. Traditional approaches on collision detection often rely on the geometric relationships that computing the intersections…

A weakly deformable droplet impinging on a rigid surface rebounds if the surface is intrinsically hydrophobic or if the gas film trapped underneath the droplet is able to keep the interfaces from touching. A simple, physically motivated…

Reconstructing interacting hands from monocular images is indispensable in AR/VR applications. Most existing solutions rely on the accurate localization of each skeleton joint. However, these methods tend to be unreliable due to the severe…

We present a technique for a complete 3D reconstruction of small objects moving in front of a textured background. It is a particular variation of multibody structure from motion, which specializes to two objects only. The scene is captured…

We introduce the task of Reconstructing Objects along Hand Interaction Timelines (ROHIT). We first define the Hand Interaction Timeline (HIT) from a rigid object's perspective. In a HIT, an object is first static relative to the scene, then…

Various heuristic objectives for modeling hand-object interaction have been proposed in past work. However, due to the lack of a cohesive framework, these objectives often possess a narrow scope of applicability and are limited by their…

We propose a new approach for Zero-Shot Human-Object Interaction Recognition in the challenging setting that involves interactions with unseen actions (as opposed to just unseen combinations of seen actions and objects). Our approach makes…

Due to visual ambiguities and inter-person occlusions, existing human pose estimation methods cannot recover plausible close interactions from in-the-wild videos. Even state-of-the-art large foundation models~(\eg, SAM) cannot accurately…

Grasping the same object in different postures is often necessary, especially when handling tools or stacked items. Due to unknown object properties and changes in grasping posture, the required grasping force is uncertain and variable.…