相关论文: GraspDiffusion: Synthesizing Realistic Whole-body …

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…

This paper presents a novel approach to generating the 3D motion of a human interacting with a target object, with a focus on solving the challenge of synthesizing long-range and diverse motions, which could not be fulfilled by existing…

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…

Accepted in the ICIP 2025 We present a novel transformer-based framework for whole-body grasping that addresses both pose generation and motion infilling, enabling realistic and stable object interactions. Our pipeline comprises three…

While predicting robot grasps with parallel jaw grippers have been well studied and widely applied in robot manipulation tasks, the study on natural human grasp generation with a multi-finger hand remains a very challenging problem. In this…

Dynamic and dexterous manipulation of objects presents a complex challenge, requiring the synchronization of hand motions with the trajectories of objects to achieve seamless and physically plausible interactions. In this work, we introduce…

Recent text-to-image generative models have exhibited remarkable abilities in generating high-fidelity and photo-realistic images. However, despite the visually impressive results, these models often struggle to preserve plausible human…

Existing hands datasets are largely short-range and the interaction is weak due to the self-occlusion and self-similarity of hands, which can not yet fit the need for interacting hands motion generation. To rescue the data scarcity, we…

Modeling the physical contacts between the hand and object is standard for refining inaccurate hand poses and generating novel human grasp in 3D hand-object reconstruction. However, existing methods rely on geometric constraints that cannot…

The versatility and adaptability of human grasping catalyze advancing dexterous robotic manipulation. While significant strides have been made in dexterous grasp generation, current research endeavors pivot towards optimizing object…

Dexterous grasp synthesis must jointly satisfy functional intent and physical feasibility, yet existing pipelines often decouple semantic grounding from refinement, yielding unstable or non-functional contacts under object and pose…

Diffusion Handles is a novel approach to enabling 3D object edits on diffusion images. We accomplish these edits using existing pre-trained diffusion models, and 2D image depth estimation, without any fine-tuning or 3D object retrieval. The…

Can we make virtual characters in a scene interact with their surrounding objects through simple instructions? Is it possible to synthesize such motion plausibly with a diverse set of objects and instructions? Inspired by these questions,…

This paper tackles the problem of physics-aware human motion synthesis in a dynamic scene. Unlike existing works which mainly tend to generate physically unrealistic motions due to limited contact modeling, typically restricted to hands, in…

Training computers to understand, model, and synthesize human grasping requires a rich dataset containing complex 3D object shapes, detailed contact information, hand pose and shape, and the 3D body motion over time. While "grasping" is…

In this paper, we address the challenge of generating realistic 3D human motions for action classes that were never seen during the training phase. Our approach involves decomposing complex actions into simpler movements, specifically those…

Gaze plays a crucial role in revealing human attention and intention, particularly in hand-object interaction scenarios, where it guides and synchronizes complex tasks that require precise coordination between the brain, hand, and object.…

Hand pose estimation from a single image has many applications. However, approaches to full 3D body pose estimation are typically trained on day-to-day activities or actions. As such, detailed hand-to-hand interactions are poorly…

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…

Synthesizing semantic-aware, long-horizon, human-object interaction is critical to simulate realistic human behaviors. In this work, we address the challenging problem of generating synchronized object motion and human motion guided by…