相关论文: Joint Diffusion for Universal Hand-Object Grasp Ge…

Generating realistic 3D hand motion from natural language is vital for VR, robotics, and human-computer interaction. Existing methods either focus on full-body motion, overlooking detailed hand gestures, or require explicit 3D object…

This paper addresses a novel task of anticipating 3D human-object interactions (HOIs). Most existing research on HOI synthesis lacks comprehensive whole-body interactions with dynamic objects, e.g., often limited to manipulating small or…

Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work…

Estimating the 3D pose of hand and potential hand-held object from monocular images is a longstanding challenge. Yet, existing methods are specialized, focusing on either bare-hand or hand interacting with object. No method can flexibly…

Despite the recent strides in video generation, state-of-the-art methods still struggle with elements of visual detail. One particularly challenging case is the class of videos in which the intricate motion of the hand coupled with a mostly…

Diffusion-based generative modeling has been achieving state-of-the-art results on various generation tasks. Most diffusion models, however, are limited to a single-generation modeling. Can we generalize diffusion models with the ability of…

We present Material Anything, a fully-automated, unified diffusion framework designed to generate physically-based materials for 3D objects. Unlike existing methods that rely on complex pipelines or case-specific optimizations, Material…

Text-to-image diffusion models have attracted considerable interest due to their wide applicability across diverse fields. However, challenges persist in creating controllable models for personalized object generation. In this paper, we…

3D object generation from a single image involves estimating the full 3D geometry and texture of unseen views from an unposed RGB image captured in the wild. Accurately reconstructing an object's complete 3D structure and texture has…

Learning from demonstrations faces challenges in generalizing beyond the training data and often lacks collision awareness. This paper introduces Lan-o3dp, a language-guided object-centric diffusion policy framework that can adapt to unseen…

In this work, we are dedicated to a new task, i.e., hand-object interaction image generation, which aims to conditionally generate the hand-object image under the given hand, object and their interaction status. This task is challenging and…

In this work, we tackle the problem of learning universal robotic dexterous grasping from a point cloud observation under a table-top setting. The goal is to grasp and lift up objects in high-quality and diverse ways and generalize across…

In this work, we present BG-HOP, a generative prior that seeks to model bimanual hand-object interactions in 3D. We address the challenge of limited bimanual interaction data by extending existing single-hand generative priors,…

Language-driven grasp detection is a fundamental yet challenging task in robotics with various industrial applications. In this work, we present a new approach for language-driven grasp detection that leverages the concept of lightweight…

In real-world scenarios, objects often require repositioning and reorientation before they can be grasped, a process known as pre-grasp manipulation. Learning universal dexterous functional pre-grasp manipulation requires precise control…

The ability to manipulate objects in a desired configurations is a fundamental requirement for robots to complete various practical applications. While certain goals can be achieved by picking and placing the objects of interest directly,…

Despite remarkable progress in image generation models, generating realistic hands remains a persistent challenge due to their complex articulation, varying viewpoints, and frequent occlusions. We present FoundHand, a large-scale…

Image generation has achieved remarkable progress with the development of large-scale text-to-image models, especially diffusion-based models. However, generating human images with plausible details, such as faces or hands, remains…

We introduce a framework for joint grounded scene graph - image generation, a challenging task involving high-dimensional, multi-modal structured data. To effectively model this complex joint distribution, we adopt a factorized approach:…

Vision-based grasping of unknown objects in unstructured environments is a key challenge for autonomous robotic manipulation. A practical grasp synthesis system is required to generate a diverse set of 6-DoF grasps from which a…