相关论文: OAKINK2: A Dataset of Bimanual Hands-Object Manipu…

Bimanual manipulation is challenging due to precise spatial and temporal coordination required between two arms. While there exist several real-world bimanual systems, there is a lack of simulated benchmarks with a large task diversity for…

Hands are the main medium when people interact with the world. Generating proper 3D motion for hand-object interaction is vital for applications such as virtual reality and robotics. Although grasp tracking or object manipulation synthesis…

We present BimArt, a novel generative approach for synthesizing 3D bimanual hand interactions with articulated objects. Unlike prior works, we do not rely on a reference grasp, a coarse hand trajectory, or separate modes for grasping and…

Visual segmentation has seen tremendous advancement recently with ready solutions for a wide variety of scene types, including human hands and other body parts. However, focus on segmentation of human hands while performing complex tasks,…

Effectively manipulating articulated objects in household scenarios is a crucial step toward achieving general embodied artificial intelligence. Mainstream research in 3D vision has primarily focused on manipulation through depth perception…

Humans possess the cognitive ability to comprehend scenes in a compositional manner. To empower AI systems with similar capabilities, object-centric learning aims to acquire representations of individual objects from visual scenes without…

We present Implicit Two Hands (Im2Hands), the first neural implicit representation of two interacting hands. Unlike existing methods on two-hand reconstruction that rely on a parametric hand model and/or low-resolution meshes, Im2Hands can…

Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they cannot interpret…

Human cognition can leverage fundamental conceptual knowledge, like geometric and kinematic ones, to appropriately perceive, comprehend and interact with novel objects. Motivated by this finding, we aim to endow machine intelligence with an…

Bimanual robotic manipulation is an emerging and critical topic in the robotics community. Previous works primarily rely on integrated control models that take the perceptions and states of both arms as inputs to directly predict their…

The interactions between human and objects are important for recognizing object-centric actions. Existing methods usually adopt a two-stage pipeline, where object proposals are first detected using a pretrained detector, and then are fed to…

How human interact with objects depends on the functional roles of the target objects, which introduces the problem of affordance-aware hand-object interaction. It requires a large number of human demonstrations for the learning and…

Vision-based robot learning often relies on dense image or point-cloud inputs, which are computationally heavy and entangle irrelevant background features. Existing keypoint-based approaches can focus on manipulation-centric features and be…

Building on existing approaches, we revisit Human-in-the-Loop Object Retrieval, a task that consists of iteratively retrieving images containing objects of a class-of-interest, specified by a user-provided query. Starting from a large…

While data-driven imitation learning has revolutionized robotic manipulation, current approaches remain constrained by the scarcity of large-scale, diverse real-world demonstrations. Consequently, the ability of existing models to…

When interacting with objects, humans effectively reason about which regions of objects are viable for an intended action, i.e., the affordance regions of the object. They can also account for subtle differences in object regions based on…

In this paper, we explore generalizable, perception-to-action robotic manipulation for precise, contact-rich tasks. In particular, we contribute a framework for closed-loop robotic manipulation that automatically handles a category of…

Despite the critical role of bimanual manipulation in endowing robots with human-like dexterity, large-scale and diverse datasets remain scarce due to the significant hardware heterogeneity across bimanual robotic platforms. To bridge this…

We present the HANDAL dataset for category-level object pose estimation and affordance prediction. Unlike previous datasets, ours is focused on robotics-ready manipulable objects that are of the proper size and shape for functional grasping…

Bimanual dexterous manipulation remains significant challenges in robotics due to the high DoFs of each hand and their coordination. Existing single-hand manipulation techniques often leverage human demonstrations to guide RL methods but…