相关论文: Task-Oriented Dexterous Hand Pose Synthesis Using …

To meet the demands of increasingly diverse dexterous hand hardware, it is crucial to develop a policy that enables zero-shot cross-embodiment grasping without redundant re-learning. Cross-embodiment alignment is challenging due to…

Accurate 3D hand pose and pressure sensing is essential for immersive human-computer interaction, yet simultaneously achieving both in mobile scenarios remains a significant challenge. We present WristPP, a camera-based wrist-worn system…

Hand pose estimation from 3D depth images, has been explored widely using various kinds of techniques in the field of computer vision. Though, deep learning based method improve the performance greatly recently, however, this problem still…

Real-time interactive grasp synthesis for dynamic objects remains challenging as existing methods fail to achieve low-latency inference while maintaining promptability. To bridge this gap, we propose SPGrasp (spatiotemporal prompt-driven…

Autonomous grasping of novel objects that are previously unseen to a robot is an ongoing challenge in robotic manipulation. In the last decades, many approaches have been presented to address this problem for specific robot hands. The…

Manual assembly workers face increasing complexity in their work. Human-centered assistance systems could help, but object recognition as an enabling technology hinders sophisticated human-centered design of these systems. At the same time,…

Grasp is an essential skill for robots to interact with humans and the environment. In this paper, we build a vision-based, robust and real-time robotic grasp approach with fully convolutional neural network. The main component of our…

Tremendous amounts of expensive annotated data are a vital ingredient for state-of-the-art 3d hand pose estimation. Therefore, synthetic data has been popularized as annotations are automatically available. However, models trained only with…

Previous learning based hand pose estimation methods does not fully exploit the prior information in hand model geometry. Instead, they usually rely a separate model fitting step to generate valid hand poses. Such a post processing is…

Learning to generate dual-hand grasps that respect object semantics is essential for robust hand-object interaction but remains largely underexplored due to dataset scarcity. Existing grasp datasets predominantly focus on single-hand…

Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…

Dexterous grasping with multi-fingered hands remains challenging due to high-dimensional articulations and the cost of optimization-based pipelines. Existing end-to-end methods require training on large-scale datasets for specific hands,…

Dexterous robotic manipulation remains a longstanding challenge in robotics due to the high dimensionality of control spaces and the semantic complexity of object interaction. In this paper, we propose an object affordance-guided…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

Grasping has been a long-standing challenge in facilitating the final interface between a robot and the environment. As environments and tasks become complicated, the need to embed higher intelligence to infer from the surroundings and act…

In this paper, we consider the problem of non-prehensile manipulation using grasped objects. This problem is a superset of many common manipulation skills including instances of tool-use (e.g., grasped spatula flipping a burger) and…

While there have been significant strides in dexterous manipulation, most of it is limited to benchmark tasks like in-hand reorientation which are of limited utility in the real world. The main benefit of dexterous hands over two-fingered…

Motivated by the stringent requirements of unstructured real-world where a plethora of unknown objects reside in arbitrary locations of the surface, we propose a voxel-based deep 3D Convolutional Neural Network (3D CNN) that generates…

Deep generative models have various content creation applications such as graphic design, e-commerce, and virtual Try-on. However, current works mainly focus on synthesizing realistic visual outputs, often ignoring other sensory modalities,…

Dexterous manipulation is a critical aspect of human capability, enabling interaction with a wide variety of objects. Recent advancements in learning from human demonstrations and teleoperation have enabled progress for robots in such…