相关论文: FORCE: Physics-aware Human-object Interaction

High fidelity digital 3D environments have been proposed in recent years, however, it remains extremely challenging to automatically equip such environment with realistic human bodies. Existing work utilizes images, depth or semantic maps…

The ability to discover abstract physical concepts and understand how they work in the world through observing lies at the core of human intelligence. The acquisition of this ability is based on compositionally perceiving the environment in…

We study the problem of binding actions to objects in object-factored world models using action-attention mechanisms. We propose two attention mechanisms for binding actions to objects, soft attention and hard attention, which we evaluate…

Nonprehensile manipulation is essential for manipulating objects that are too thin, large, or otherwise ungraspable in the wild. To sidestep the difficulty of contact modeling in conventional modeling-based approaches, reinforcement…

Reinforcement learning (RL) has significantly advanced the control of physics-based and robotic characters that track kinematic reference motion. However, methods typically rely on a weighted sum of conflicting reward functions, requiring…

Synesthesia, conceived as a neuropsychological condition, may prove valuable in studying the interaction between humans and machines by analyzing the co-occurrence of sensory or cognitive responses triggered by a stimulus. In our approach,…

With advances in data-driven machine learning research, a wide variety of prediction models have been proposed to capture spatio-temporal features for the analysis of video streams. Recognising actions and detecting action transitions…

Many videos depict people, and it is their interactions that inform us of their activities, relation to one another and the cultural and social setting. With advances in human action recognition, researchers have begun to address the…

Agents that understand objects and their interactions can learn policies that are more robust and transferable. However, most object-centric RL methods factor state by individual objects while leaving interactions implicit. We introduce the…

Animating human-scene interactions such as pick-and-place tasks in cluttered, complex layouts is a challenging task, with objects of a wide variation of geometries and articulation under scenarios with various obstacles. The main difficulty…

This paper presents an approach for inferring geometric constraints in human demonstrations. In our method, geometric constraint models are built to create representations of kinematic constraints such as fixed point, axial rotation,…

As the population continues to age, a shortage of caregivers is expected in the future. Dressing assistance, in particular, is crucial for opportunities for social participation. Especially dressing close-fitting garments, such as socks,…

We revisit human motion synthesis, a task useful in various real world applications, in this paper. Whereas a number of methods have been developed previously for this task, they are often limited in two aspects: focusing on the poses while…

Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse hand poses and plausible contact points. However, these…

Object affordance is an important concept in hand-object interaction, providing information on action possibilities based on human motor capacity and objects' physical property thus benefiting tasks such as action anticipation and robot…

Differentiable physics is a powerful tool in computer vision and robotics for scene understanding and reasoning about interactions. Existing approaches have frequently been limited to objects with simple shape or shapes that are known in…

Interaction is the mode of being of material things amid other material things and the driving force of change and wholeness. Through mutual influence, changes of interacting things become interdependent and their properties interrelated,…

Vision based human motion recognition has fascinated many researchers due to its critical challenges and a variety of applications. The applications range from simple gesture recognition to complicated behaviour understanding in…

Many surface cues support three-dimensional shape perception, but people can sometimes still see shape when these features are missing -- in extreme cases, even when an object is completely occluded, as when covered with a draped cloth. We…

Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems…