相关论文: Touch if it's transparent! ACTOR: Active Tactile-b…

Due to the optical properties, transparent objects often lead depth cameras to generate incomplete or invalid depth data, which in turn reduces the accuracy and reliability of robotic grasping. Existing approaches typically input the RGB-D…

Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…

Advancements in neural implicit representations and differentiable rendering have markedly improved the ability to learn animatable 3D avatars from sparse multi-view RGB videos. However, current methods that map observation space to…

Recovering the skeletal shape of an animal from a monocular video is a longstanding challenge. Prevailing animal reconstruction methods often adopt a control-point driven animation model and optimize bone transforms individually without…

Robots operating in real-world environments frequently encounter unknown objects with complex structures and articulated components, such as doors, drawers, cabinets, and tools. The ability to perceive, track, and manipulate these objects…

Interactive 3D scenes are increasingly vital for embodied intelligence, yet existing datasets remain limited due to the labor-intensive process of annotating part segmentation, kinematic types, and motion trajectories. We present REACT3D, a…

Explainable artificial intelligence has been gaining attention in the past few years. However, most existing methods are based on gradients or intermediate features, which are not directly involved in the decision-making process of the…

The contour estimation of transparent fragments is very important for autonomous reassembly, especially in the fields of precision optical instrument repair, cultural relic restoration, and identification of other precious device broken…

Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…

Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…

How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…

Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…

Human action recognition (HAR) in videos is one of the core tasks of video understanding. Based on video sequences, the goal is to recognize actions performed by humans. While HAR has received much attention in the visible spectrum, action…

In this paper, we propose ARCH (Animatable Reconstruction of Clothed Humans), a novel end-to-end framework for accurate reconstruction of animation-ready 3D clothed humans from a monocular image. Existing approaches to digitize 3D humans…

In daily life, humans utilize hands to manipulate objects. Modeling the shape of objects that are manipulated by the hand is essential for AI to comprehend daily tasks and to learn manipulation skills. However, previous approaches have…

While Human-Object Interaction(HOI) Detection has achieved tremendous advances in recent, it still remains challenging due to complex interactions with multiple humans and objects occurring in images, which would inevitably lead to…

Object recognition is an essential capability when performing various tasks. Humans naturally use either or both visual and tactile perception to extract object class and properties. Typical approaches for robots, however, require complex…

Tactile perception is important for robotic systems that interact with the world through touch. Touch is an active sense in which tactile measurements depend on the contact properties of an interaction--e.g., velocity, force,…

Transparent objects are common in daily life. However, depth sensing for transparent objects remains a challenging problem. While learning-based methods can leverage shape priors to improve the sensing quality, the labor-intensive data…

Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that…