相关论文: HMDO: Markerless Multi-view Hand Manipulation Capt…

Modeling hand-object manipulations is essential for understanding how humans interact with their environment. While of practical importance, estimating the pose of hands and objects during interactions is challenging due to the large mutual…

While robotic manipulation of rigid objects is quite straightforward, coping with deformable objects is an open issue. More specifically, tasks like tying a knot, wiring a connector or even surgical suturing deal with the domain of…

Reconstructing dynamic scenes with multiple interacting humans and objects from sparse-view inputs is a critical yet challenging task, essential for creating high-fidelity digital twins for robotics and VR/AR. This problem, which we term…

Object handover is a common human collaboration behavior that attracts attention from researchers in Robotics and Cognitive Science. Though visual perception plays an important role in the object handover task, the whole handover process…

Digital human motion synthesis is a vibrant research field with applications in movies, AR/VR, and video games. Whereas methods were proposed to generate natural and realistic human motions, most only focus on modeling humans and largely…

Reconstructing 3D objects is an important computer vision task that has wide application in AR/VR. Deep learning algorithm developed for this task usually relies on an unrealistic synthetic dataset, such as ShapeNet and Things3D. On the…

Building hand-object models for dexterous in-hand manipulation remains a crucial and open problem. Major challenges include the difficulty of obtaining the geometric and dynamical models of the hand, object, and time-varying contacts, as…

Reconstructing hand-held objects from monocular RGB images is an appealing yet challenging task. In this task, contacts between hands and objects provide important cues for recovering the 3D geometry of the hand-held objects. Though recent…

Data-driven methods have shown great potential in solving challenging manipulation tasks; however, their application in the domain of deformable objects has been constrained, in part, by the lack of data. To address this lack, we propose…

We propose a dataset to study the influence of object-specific characteristics on human pick-and-place movements and compare the quality of the motion kinematics extracted by various sensors. This dataset is also suitable for promoting a…

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…

Dexterous multi-fingered hands can provide robots with the ability to flexibly perform a wide range of manipulation skills. However, many of the more complex behaviors are also notoriously difficult to control: Performing in-hand object…

We present HOReeNet, which tackles the novel task of manipulating images involving hands, objects, and their interactions. Especially, we are interested in transferring objects of source images to target images and manipulating 3D hand…

Recent advances in 3D human-aware generation have made significant progress. However, existing methods still struggle with generating novel Human Object Interaction (HOI) from text, particularly for open-set objects. We identify three main…

Much of the literature on robotic perception focuses on the visual modality. Vision provides a global observation of a scene, making it broadly useful. However, in the domain of robotic manipulation, vision alone can sometimes prove…

We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about…

In this study, an adaptive object deformability-agnostic human-robot collaborative transportation framework is presented. The proposed framework enables to combine the haptic information transferred through the object with the human…

Recent approaches have successfully focused on the segmentation of static reconstructions, thereby equipping downstream applications with semantic 3D understanding. However, the world in which we live is dynamic, characterized by numerous…

This paper addresses the scarcity of large-scale datasets for accurate object-in-hand pose estimation, which is crucial for robotic in-hand manipulation within the ``Perception-Planning-Control" paradigm. Specifically, we introduce VinT-6D,…

Hand gesture understanding is essential for several applications in human-computer interaction, including automatic clinical assessment of hand dexterity. While deep learning has advanced static gesture recognition, dynamic gesture…