相关论文: Dense Hand-Object(HO) GraspNet with Full Grasping …

Grasping unseen objects in unconstrained, cluttered environments is an essential skill for autonomous robotic manipulation. Despite recent progress in full 6-DoF grasp learning, existing approaches often consist of complex sequential…

Understanding how humans interact with each other is key to building realistic multi-human virtual reality systems. This area remains relatively unexplored due to the lack of large-scale datasets. Recent datasets focusing on this issue…

Generating grasps for a dexterous hand often requires numerous grasping annotations. However, annotating high DoF dexterous hand poses is quite challenging. Especially for functional grasps, requiring the hand to grasp the object in a…

6-DoF grasp pose detection of multi-grasp and multi-object is a challenge task in the field of intelligent robot. To imitate human reasoning ability for grasping objects, data driven methods are widely studied. With the introduction of…

Human-object interaction detection is an important and relatively new class of visual relationship detection tasks, essential for deeper scene understanding. Most existing approaches decompose the problem into object localization and…

Physical contact between hands and objects plays a critical role in human grasps. We show that optimizing the pose of a hand to achieve expected contact with an object can improve hand poses inferred via image-based methods. Given a hand…

Generating realistic hand motion sequences in interaction with objects has gained increasing attention with the growing interest in digital humans. Prior work has illustrated the effectiveness of employing occupancy-based or distance-based…

We present DeSOPE, a large-scale dataset for 6DoF deformed objects. Most 6D object pose methods assume rigid or articulated objects, an assumption that fails in practice as objects deviate from their canonical shapes due to wear, impact, or…

Generating realistic full-body motion interacting with objects is critical for applications in robotics, virtual reality, and human-computer interaction. While existing methods can generate full-body motion within 3D scenes, they often lack…

We propose a physics-based method for synthesizing dexterous hand-object interactions in a full-body setting. While recent advancements have addressed specific facets of human-object interactions, a comprehensive physics-based approach…

We present a benchmark for 3D human whole-body pose estimation, which involves identifying accurate 3D keypoints on the entire human body, including face, hands, body, and feet. Currently, the lack of a fully annotated and accurate 3D…

Dual-arm robotic grasping is crucial for handling large objects that require stable and coordinated manipulation. While single-arm grasping has been extensively studied, datasets tailored for dual-arm settings remain scarce. We introduce a…

Egocentric human-object interaction (Ego-HOI) detection is crucial for intelligent agents to understand and assist human activities from a first-person perspective. However, progress has been hindered by the lack of benchmarks and methods…

We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…

Human-object interaction detection (HOID) refers to localizing interactive human-object pairs in images and identifying the interactions. Since there could be an exponential number of object-action combinations, labeled data is limited -…

We consider the task of object grasping with a prosthetic hand capable of multiple grasp types. In this setting, communicating the intended grasp type often requires a high user cognitive load which can be reduced adopting shared autonomy…

Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…

Recognizing human actions is a vital task for a humanoid robot, especially in domains like programming by demonstration. Previous approaches on action recognition primarily focused on the overall prevalent action being executed, but we…

Tactile and kinesthetic perceptions are crucial for human dexterous manipulation, enabling reliable grasping of objects via proprioceptive sensorimotor integration. For robotic hands, even though acquiring such tactile and kinesthetic…

Hand-object interaction understanding and the barely addressed novel view synthesis are highly desired in the immersive communication, whereas it is challenging due to the high deformation of hand and heavy occlusions between hand and…