相关论文: CAMS: CAnonicalized Manipulation Spaces for Catego…

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…

This paper tackles the problem of physics-aware human motion synthesis in a dynamic scene. Unlike existing works which mainly tend to generate physically unrealistic motions due to limited contact modeling, typically restricted to hands, in…

Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…

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…

Despite advances in dexterous hand manipulation, robotic hand design is still largely decoupled from task-driven evaluation and control, limiting systematic optimization. Existing robotic hand co-design approaches are often limited in…

Robotic manipulation of unfamiliar objects in new environments is challenging and requires extensive training or laborious pre-programming. We propose a new skill transfer framework, which enables a robot to transfer complex object…

The field of video generation has expanded significantly in recent years, with controllable and compositional video generation garnering considerable interest. Most methods rely on leveraging annotations such as text, objects' bounding…

In human-made scenarios, robots need to be able to fully operate objects in their surroundings, i.e., objects are required to be functionally grasped rather than only picked. This imposes very strict constraints on the object pose such that…

Synthesizing human motion has advanced rapidly, yet realistic hand motion and bimanual interaction remain underexplored. Whole-body models often miss the fine-grained cues that drive dexterous behavior, finger articulation, contact timing,…

Human video generation is becoming an increasingly important task with broad applications in graphics, entertainment, and embodied AI. Despite the rapid progress of video diffusion models (VDMs), their use for general-purpose human video…

Manipulation actions transform objects from an initial state into a final state. In this paper, we report on the use of object state transitions as a mean for recognizing manipulation actions. Our method is inspired by the intuition that…

In recent years, there has been growing interest in developing robots and autonomous systems that can interact with human in a more natural and intuitive way. One of the key challenges in achieving this goal is to enable these systems to…

We explore the task of Canonical Surface Mapping (CSM). Specifically, given an image, we learn to map pixels on the object to their corresponding locations on an abstract 3D model of the category. But how do we learn such a mapping? A…

We tackle the tasks of: 1) predicting a Canonical Surface Mapping (CSM) that indicates the mapping from 2D pixels to corresponding points on a canonical template shape, and 2) inferring the articulation and pose of the template…

Recent conditional image synthesis approaches provide high-quality synthesized images. However, it is still challenging to accurately adjust image contents such as the positions and orientations of objects, and synthesized images often have…

General-purpose robotic skills from end-to-end demonstrations often leads to task-specific policies that fail to generalize beyond the training distribution. Therefore, we introduce FunCanon, a framework that converts long-horizon…

Designing realistic and functional 3D indoor rooms is essential for a wide range of applications, including interior design, virtual reality, gaming, and embodied AI. While recent MLLM-based approaches have shown great potential for 3D room…

Since the emergence of large annotated datasets, state-of-the-art hand pose estimation methods have been mostly based on discriminative learning. Recently, a hybrid approach has embedded a kinematic layer into the deep learning structure in…

Many object pose estimation algorithms rely on the analysis-by-synthesis framework which requires explicit representations of individual object instances. In this paper we combine a gradient-based fitting procedure with a parametric neural…

Human motion prediction is a classical problem in computer vision and computer graphics, which has a wide range of practical applications. Previous effects achieve great empirical performance based on an encoding-decoding style. The methods…