相关论文: RGBManip: Monocular Image-based Robotic Manipulati…

In the robotic industry, specular and textureless metallic components are ubiquitous. The 6D pose estimation of such objects with only a monocular RGB camera is difficult because of the absence of rich texture features. Furthermore, the…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

Deep reinforcement learning has achieved great success in laser-based collision avoidance works because the laser can sense accurate depth information without too much redundant data, which can maintain the robustness of the algorithm when…

In this paper, we introduce a method to automatically reconstruct the 3D motion of a person interacting with an object from a single RGB video. Our method estimates the 3D poses of the person and the object, contact positions, and forces…

Either RGB images or inertial signals have been used for the task of motion capture (mocap), but combining them together is a new and interesting topic. We believe that the combination is complementary and able to solve the inherent…

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,…

Limbed climbing robots are designed to explore challenging vertical walls, such as the skylights of the Moon and Mars. In such robots, the primary role of a hand-eye camera is to accurately estimate 3D positions of graspable points (i.e.,…

This paper presents a comprehensive pipeline for recognizing objects targeted by human pointing gestures using RGB images. As human-robot interaction moves toward more intuitive interfaces, the ability to identify targets of non-verbal…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

Most monocular and physics-based human pose tracking methods, while achieving state-of-the-art results, suffer from artifacts when the scene does not have a strictly flat ground plane or when the camera is moving. Moreover, these methods…

Contemporary monocular 6D pose estimation methods can only cope with a handful of object instances. This naturally hampers possible applications as, for instance, robots seamlessly integrated in everyday processes necessarily require the…

Inertial mass plays a crucial role in robotic applications such as object grasping, manipulation, and simulation, providing a strong prior for planning and control. Accurately estimating an object's mass before interaction can significantly…

Estimating object mass from visual input is challenging because mass depends jointly on geometric volume and material-dependent density, neither of which is directly observable from RGB appearance. Consequently, mass prediction from pixels…

Action recognition from an egocentric viewpoint is a crucial perception task in robotics and enables a wide range of human-robot interactions. While most computer vision approaches prioritize the RGB camera, the Depth modality - which can…

The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…

Multi-finger robotic hand manipulation and grasping are challenging due to the high-dimensional action space and the difficulty of acquiring large-scale training data. Existing approaches largely rely on human teleoperation with wearable…

Capturing the interactions between humans and their environment in 3D is important for many applications in robotics, graphics, and vision. Recent works to reconstruct the 3D human and object from a single RGB image do not have consistent…

While most current RGB-D-based category-level object pose estimation methods achieve strong performance, they face significant challenges in scenes lacking depth information. In this paper, we propose a novel category-level object pose…

Marker-less 3D human motion capture from a single colour camera has seen significant progress. However, it is a very challenging and severely ill-posed problem. In consequence, even the most accurate state-of-the-art approaches have…

The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…