相关论文: HOReeNet: 3D-aware Hand-Object Grasping Reenactmen…

We propose a novel framework for 3D hand shape reconstruction and hand-object grasp optimization from a single RGB image. The representation of hand-object contact regions is critical for accurate reconstructions. Instead of approximating…

Reconstructing 3D human shape and pose from monocular images is challenging despite the promising results achieved by the most recent learning-based methods. The commonly occurred misalignment comes from the facts that the mapping from…

Being able to grasp objects is a fundamental component of most robotic manipulation systems. In this paper, we present a new approach to simultaneously reconstruct a mesh and a dense grasp quality map of an object from a depth image. At the…

Can machine automatically generate multiple distinct and natural hand grasps, given specific contact region of an object in 3D? This motivates us to consider a novel task of \textit{Region Controllable Hand Grasp Generation (RegionGrasp)},…

3D human pose and shape estimation (HPE) aims to reconstruct the 3D human body, face, and hands from a single image. Although powerful deep learning models have achieved accurate estimation in this task, they require enormous memory and…

We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…

Prior works for reconstructing hand-held objects from a single image train models on images paired with 3D shapes. Such data is challenging to gather in the real world at scale. Consequently, these approaches do not generalize well when…

Vision-based human-to-robot handover is an important and challenging task in human-robot interaction. Recent work has attempted to train robot policies by interacting with dynamic virtual humans in simulated environments, where the policies…

This paper addresses the problem of 3D human pose estimation from single images. While for a long time human skeletons were parameterized and fitted to the observation by satisfying a reprojection error, nowadays researchers directly use…

Recent advancements in image translation for enhancing mixed-exposure images have demonstrated the transformative potential of deep learning algorithms. However, addressing extreme exposure variations in images remains a significant…

We interact with the world with our hands and see it through our own (egocentric) perspective. A holistic 3Dunderstanding of such interactions from egocentric views is important for tasks in robotics, AR/VR, action recognition and motion…

Human action recognition (HAR) is a high-level and significant research area in computer vision due to its ubiquitous applications. The main limitations of the current HAR models are their complex structures and lengthy training time. In…

Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…

Humans naturally perceive a 3D scene in front of them through accumulation of information obtained from multiple interconnected projections of the scene and by interpreting their correspondence. This phenomenon has inspired artificial…

We present a novel approach to robotic grasp planning using both a learned grasp proposal network and a learned 3D shape reconstruction network. Our system generates 6-DOF grasps from a single RGB-D image of the target object, which is…

3D hand-object pose estimation is the key to the success of many computer vision applications. The main focus of this task is to effectively model the interaction between the hand and an object. To this end, existing works either rely on…

Reconstructing interacting hands from a single RGB image is a very challenging task. On the one hand, severe mutual occlusion and similar local appearance between two hands confuse the extraction of visual features, resulting in the…

Understanding how humans cooperatively rearrange household objects is critical for VR/AR and human-robot interaction. However, in-depth studies on modeling these behaviors are under-researched due to the lack of relevant datasets. We fill…

We propose a novel diffusion-based framework for reconstructing 3D geometry of hand-held objects from monocular RGB images by leveraging hand-object interaction as geometric guidance. Our method conditions a latent diffusion model on an…

In this work, we tackle the challenging task of jointly tracking hand object pose and reconstructing their shapes from depth point cloud sequences in the wild, given the initial poses at frame 0. We for the first time propose a point cloud…