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

Handovers are basic yet sophisticated motor tasks performed seamlessly by humans. They are among the most common activities in our daily lives and social environments. This makes mastering the art of handovers critical for a social and…

Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…

The increasing labor shortage and aging population underline the need for assistive robots to support human care recipients. To enable safe and responsive assistance, robots require accurate human motion prediction in physical interaction…

Learning how to interact with objects is an important step towards embodied visual intelligence, but existing techniques suffer from heavy supervision or sensing requirements. We propose an approach to learn human-object interaction…

To understand the visual world, a machine must not only recognize individual object instances but also how they interact. Humans are often at the center of such interactions and detecting human-object interactions is an important practical…

Understanding the world in terms of objects and the possible interplays with them is an important cognition ability, especially in robotics manipulation, where many tasks require robot-object interactions. However, learning such a…

Human action is naturally compositional: humans can easily recognize and perform actions with objects that are different from those used in training demonstrations. In this paper, we study the compositionality of action by looking into the…

Machine learning models of visual action recognition are typically trained and tested on data from specific situations where actions are associated with certain objects. It is an open question how action-object associations in the training…

Humans inevitably develop a sense of the relationships between objects, some of which are based on their appearance. Some pairs of objects might be seen as being alternatives to each other (such as two pairs of jeans), while others may be…

The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…

We show that for human-object interaction detection a relatively simple factorized model with appearance and layout encodings constructed from pre-trained object detectors outperforms more sophisticated approaches. Our model includes…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

The ability to perceive and reason about social interactions in the context of physical environments is core to human social intelligence and human-machine cooperation. However, no prior dataset or benchmark has systematically evaluated…

When humans perform a task with an articulated object, they interact with the object only in a handful of ways, while the space of all possible interactions is nearly endless. This is because humans have prior knowledge about what…

Generating high-quality whole-body human object interaction motion sequences is becoming increasingly important in various fields such as animation, VR/AR, and robotics. The main challenge of this task lies in determining the level of…

Physical construction---the ability to compose objects, subject to physical dynamics, to serve some function---is fundamental to human intelligence. We introduce a suite of challenging physical construction tasks inspired by how children…

Learning 3D human-object interaction relation is pivotal to embodied AI and interaction modeling. Most existing methods approach the goal by learning to predict isolated interaction elements, e.g., human contact, object affordance, and…

Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…

Human-computer interaction (HCI) has been a widely researched area for many years, with continuous advancements in technology leading to the development of new techniques that change the way we interact with computers. With the recent…

Many physical tasks such as pulling out a drawer or wiping a table can be modeled with geometric constraints. These geometric constraints are characterized by restrictions on kinematic trajectories and reaction wrenches (forces and moments)…