相关论文: ATTACH Dataset: Annotated Two-Handed Assembly Acti…

We propose a method for annotating images of a hand manipulating an object with the 3D poses of both the hand and the object, together with a dataset created using this method. Our motivation is the current lack of annotated real images for…

This paper presents a new large-scale dataset for recognition and temporal localization of human actions collected from Web videos. We refer to it as HACS (Human Action Clips and Segments). We leverage both consensus and disagreement among…

The problem of task planning for artificial agents remains largely unsolved. While there has been increasing interest in data-driven approaches for the study of task planning for artificial agents, a significant remaining bottleneck is the…

In this paper, we introduce a new hierarchical model for human action recognition using body joint locations. Our model can categorize complex actions in videos, and perform spatio-temporal annotations of the atomic actions that compose the…

This paper describes the AVA-Kinetics localized human actions video dataset. The dataset is collected by annotating videos from the Kinetics-700 dataset using the AVA annotation protocol, and extending the original AVA dataset with these…

Humans intuitively understand that inanimate objects do not move by themselves, but that state changes are typically caused by human manipulation (e.g., the opening of a book). This is not yet the case for machines. In part this is because…

Assembly is a fundamental skill for robots in both modern manufacturing and service robotics. Existing datasets aim to address the data bottleneck in training general-purpose robot models, falling short of capturing contact-rich assembly…

Hand-Object Interactions (HOIs) are conditioned on spatial and temporal contexts like surrounding objects, previous actions, and future intents (for example, grasping and handover actions vary greatly based on objects proximity and…

Since cobots (collaborative robots) are increasingly being introduced in industrial environments, being aware of their potential positive and negative impacts on human collaborators is essential. This study guides occupational health…

We introduce HARPER, a novel dataset for 3D body pose estimation and forecast in dyadic interactions between users and Spot, the quadruped robot manufactured by Boston Dynamics. The key-novelty is the focus on the robot's perspective, i.e.,…

Annotating a large-scale in-the-wild person re-identification dataset especially of marathon runners is a challenging task. The variations in the scenarios such as camera viewpoints, resolution, occlusion, and illumination make the problem…

This paper introduces a video dataset of spatio-temporally localized Atomic Visual Actions (AVA). The AVA dataset densely annotates 80 atomic visual actions in 430 15-minute video clips, where actions are localized in space and time,…

Humans commonly work with multiple objects in daily life and can intuitively transfer manipulation skills to novel objects by understanding object functional regularities. However, existing technical approaches for analyzing and…

This paper introduces Amazon Robotic Manipulation Benchmark (ARMBench), a large-scale, object-centric benchmark dataset for robotic manipulation in the context of a warehouse. Automation of operations in modern warehouses requires a robotic…

Robotic grasping plays an important role in the field of robotics. The current state-of-the-art robotic grasping detection systems are usually built on the conventional vision, such as RGB-D camera. Compared to traditional frame-based…

This paper presents a novel framework for real-time human action recognition in industrial contexts, using standard 2D cameras. We introduce a complete pipeline for robust and real-time estimation of human joint kinematics, input to a…

Prior work has demonstrated the feasibility of automated activity recognition in robot-assisted surgery from motion data. However, these efforts have assumed the availability of a large number of densely-annotated sequences, which must be…

Thanks to the substantial and explosively inscreased instructional videos on the Internet, novices are able to acquire knowledge for completing various tasks. Over the past decade, growing efforts have been devoted to investigating the…

Hand, the bearer of human productivity and intelligence, is receiving much attention due to the recent fever of digital twins. Among different hand morphable models, MANO has been widely used in vision and graphics community. However, MANO…

Bimanual coordination is essential for many real-world manipulation tasks, yet learning bimanual robot policies is limited by the scarcity of bimanual robots and datasets. Single-arm robots, however, are widely available in research labs.…