相关论文: VIHE: Virtual In-Hand Eye Transformer for 3D Robot…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

This report describes our 1st place solution to ECCV 2022 challenge on Human Body, Hands, and Activities (HBHA) from Egocentric and Multi-view Cameras (hand pose estimation). In this challenge, we aim to estimate global 3D hand poses from…

Reconstructing high-fidelity hand models with intricate textures plays a crucial role in enhancing human-object interaction and advancing real-world applications. Despite the state-of-the-art methods excelling in texture generation and…

This study addresses the challenge of manipulation, a prominent issue in robotics. We have devised a novel methodology for swiftly and precisely identifying the optimal grasp point for a robot to manipulate an object. Our approach leverages…

We present a novel unified framework that concurrently tackles recognition and future prediction for human hand pose and action modeling. Previous works generally provide isolated solutions for either recognition or prediction, which not…

Recent advances in visual 6D pose estimation of objects using deep neural networks have enabled novel ways of vision-based control for heavy-duty robotic applications. In this study, we present a pipeline for the precise tool positioning of…

We present a novel Hand-pose Embedding Interactive System (HpEIS) as a virtual sensor, which maps users' flexible hand poses to a two-dimensional visual space using a Variational Autoencoder (VAE) trained on a variety of hand poses. HpEIS…

Hand-eye calibration, as a fundamental task in vision-based robotic systems, aims to estimate the transformation matrix between the coordinate frame of the camera and the robot flange. Most approaches to hand-eye calibration rely on…

Recent advancements in Vision Transformers (ViT) have demonstrated exceptional results in various visual recognition tasks, owing to their ability to capture long-range dependencies in images through self-attention mechanisms. However, the…

Developing robust and general-purpose manipulation policies represents a fundamental objective in robotics research. While Vision-Language-Action (VLA) models have demonstrated promising capabilities for end-to-end robot control, existing…

Hand gesture recognition is becoming a more prevalent mode of human-computer interaction, especially as cameras proliferate across everyday devices. Despite continued progress in this field, gesture customization is often underexplored.…

3D hand pose estimation (HPE) is the process of locating the joints of the hand in 3D from any visual input. HPE has recently received an increased amount of attention due to its key role in a variety of human-computer interaction…

Reconstructing a high-precision and high-fidelity 3D human hand from a color image plays a central role in replicating a realistic virtual hand in human-computer interaction and virtual reality applications. The results of current methods…

Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…

Learning robust visuomotor policies for robotic manipulation remains a challenge in real-world settings, where visual distractors can significantly degrade performance and safety. In this work, we propose an effective and scalable…

Imitation learning has emerged as a powerful paradigm for robot skills learning. However, traditional data collection systems for dexterous manipulation face challenges, including a lack of balance between acquisition efficiency,…

Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…

Vision Transformers (ViTs) have become prominent models for solving various vision tasks. However, the interpretability of ViTs has not kept pace with their promising performance. While there has been a surge of interest in developing {\it…

The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…

Human hand actions are quite complex, especially when they involve object manipulation, mainly due to the high dimensionality of the hand and the vast action space that entails. Imitating those actions with dexterous hand models involves…