相关论文: Single-View Scene Point Cloud Human Grasp Generati…

6-DoF object-agnostic grasping in unstructured environments is a critical yet challenging task in robotics. Most current works use non-optimized approaches to sample grasp locations and learn spatial features without concerning the grasping…

3D content generation has recently attracted significant research interest, driven by its critical applications in VR/AR and embodied AI. In this work, we tackle the challenging task of synthesizing multiple 3D assets within a single scene…

Single image view synthesis allows for the generation of new views of a scene given a single input image. This is challenging, as it requires comprehensively understanding the 3D scene from a single image. As a result, current methods…

Robotic dexterous grasping is the first step to enable human-like dexterous object manipulation and thus a crucial robotic technology. However, dexterous grasping is much more under-explored than object grasping with parallel grippers,…

The latest trends in the research field of single-view human reconstruction devote to learning deep implicit functions constrained by explicit body shape priors. Despite the remarkable performance improvements compared with traditional…

Grasp detection of novel objects in unstructured environments is a key capability in robotic manipulation. For 2D grasp detection problems where grasps are assumed to lie in the plane, it is common to design a fully convolutional neural…

We introduce AO-Grasp, a grasp proposal method that generates 6 DoF grasps that enable robots to interact with articulated objects, such as opening and closing cabinets and appliances. AO-Grasp consists of two main contributions: the…

Recent advancements in Generative Artificial Intelligence (GenAI) have significantly enhanced the capabilities of both image generation and editing. However, current approaches often treat these tasks separately, leading to inefficiencies…

The world around us is full of soft objects we perceive and deform with dexterous hand movements. For a robotic hand to control soft objects, it has to acquire online state feedback of the deforming object. While RGB-D cameras can collect…

Effectively modeling the interaction between human hands and objects is challenging due to the complex physical constraints and the requirement for high generation efficiency in applications. Prior approaches often employ computationally…

Towards building comprehensive real-world visual perception systems, we propose and study a new problem called panoptic scene graph generation (PVSG). PVSG relates to the existing video scene graph generation (VidSGG) problem, which focuses…

Despite the great success object detection and segmentation models have achieved in recognizing individual objects in images, performance on cognitive tasks such as image caption, semantic image retrieval, and visual QA is far from…

As Artificial Intelligence Generated Content (AIGC) advances, a variety of methods have been developed to generate text, images, videos, and 3D objects from single or multimodal inputs, contributing efforts to emulate human-like cognitive…

Learning to generate dual-hand grasps that respect object semantics is essential for robust hand-object interaction but remains largely underexplored due to dataset scarcity. Existing grasp datasets predominantly focus on single-hand…

Scene-Graph Generation (SGG) seeks to recognize objects in an image and distill their salient pairwise relationships. Most methods depend on dataset-specific supervision to learn the variety of interactions, restricting their usefulness in…

For transradial amputees, robotic prosthetic hands promise to regain the capability to perform daily living activities. To advance next-generation prosthetic hand control design, it is crucial to address current shortcomings in robustness…

Controlling hand exoskeletons for assisting impaired patients in grasping tasks is challenging because it is difficult to infer user intent. We hypothesize that majority of daily grasping tasks fall into a small set of categories or modes…

In this work, we propose a novel method for generating 3D point clouds that leverage properties of hyper networks. Contrary to the existing methods that learn only the representation of a 3D object, our approach simultaneously finds a…

Grasping in cluttered scenes remains highly challenging for dexterous hands due to the scarcity of data. To address this problem, we present a large-scale synthetic benchmark, encompassing 1319 objects, 8270 scenes, and 427 million grasps.…

Viewpoint missing of objects is common in scene reconstruction, as camera paths typically prioritize capturing the overall scene structure rather than individual objects. This makes it highly challenging to achieve high-fidelity…