相关论文: FORCE: Physics-aware Human-object Interaction
Achieving realistic simulations of humans interacting with a wide range of objects has long been a fundamental goal. Extending physics-based motion imitation to complex human-object interactions (HOIs) is challenging due to intricate…
Modeling and generating human reactions poses a significant challenge with broad applications for computer vision and human-computer interaction. Existing methods either treat multiple individuals as a single entity, directly generating…
We introduce a benchmark to directly evaluate the alignment between human observers and vision models on a 3D shape inference task. We leverage an experimental design from the cognitive sciences which requires zero-shot visual inferences…
General physical scene understanding requires more than simply localizing and recognizing objects -- it requires knowledge that objects can have different latent properties (e.g., mass or elasticity), and that those properties affect the…
It is suggested that the motion of pedestrians can be described as if they would be subject to `social forces'. These `forces' are not directly exerted by the pedestrians' personal environment, but they are a measure for the internal…
To reach human performance on complex tasks, a key ability for artificial systems is to understand physical interactions between objects, and predict future outcomes of a situation. This ability, often referred to as intuitive physics, has…
For machines to interact with the physical world, they must understand the physical properties of objects and materials they encounter. We use fabrics as an example of a deformable material with a rich set of mechanical properties. A thin…
Synthesizing semantic-aware, long-horizon, human-object interaction is critical to simulate realistic human behaviors. In this work, we address the challenging problem of generating synchronized object motion and human motion guided by…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
In this paper, we present a novel method for mobile manipulators to perform multiple contact-rich manipulation tasks. While learning-based methods have the potential to generate actions in an end-to-end manner, they often suffer from…
Humans appear to represent objects for intuitive physics with coarse, volumetric bodies'' that smooth concavities - trading fine visual details for efficient physical predictions - yet their internal structure is largely unknown.…
Robots are becoming increasingly popular in a wide range of environments due to their exceptional work capacity, precision, efficiency, and scalability. This development has been further encouraged by advances in Artificial Intelligence,…
Object manipulation actions represent an important share of the Activities of Daily Living (ADLs). In this work, we study how to enable service robots to use human multi-modal data to understand object manipulation actions, and how they can…
Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world…
What happens if one pushes a cup sitting on a table toward the edge of the table? How about pushing a desk against a wall? In this paper, we study the problem of understanding the movements of objects as a result of applying external forces…
Sound can exert forces on objects of any material and shape. This has made the contactless manipulation of objects by intense ultrasound a fascinating area of research with wide-ranging applications. While much is understood for acoustic…
The human brain represents objects in a way that is both invariant across instances and flexible enough to support different contexts and tasks. Yet it remains unknown how object representations are dynamically remapped as the same object…
Understanding images with people often entails understanding their \emph{interactions} with other objects or people. As such, given a novel image, a vision system ought to infer which other objects/people play an important role in a given…
The problem of predicting human motion given a sequence of past observations is at the core of many applications in robotics and computer vision. Current state-of-the-art formulate this problem as a sequence-to-sequence task, in which a…
Contact-rich tasks present significant challenges for robotic manipulation policies due to the complex dynamics of contact and the need for precise control. Vision-based policies often struggle with the skill required for such tasks, as…