相关论文: HOGSA: Bimanual Hand-Object Interaction Understand…

3D Gaussian Splatting is a novel method for 3D view synthesis, which can gain an implicit neural learning rendering result than the traditional neural rendering technology but keep the more high-definition fast rendering speed. But it is…

Estimating the pose and shape of hands and objects under interaction finds numerous applications including augmented and virtual reality. Existing approaches for hand and object reconstruction require explicitly defined physical constraints…

We tackle the novel problem of predicting 3D hand motion and contact maps (or Interaction Trajectories) given a single RGB view, action text, and a 3D contact point on the object as input. Our approach consists of (1) Interaction Codebook:…

3D Gaussian Splatting (3DGS) has recently emerged as a fast, high-quality method for novel view synthesis (NVS). However, its use of low-degree spherical harmonics limits its ability to capture spatially varying color and view-dependent…

Data augmentation has been highly effective in narrowing the data gap and reducing the cost for human annotation, especially for tasks where ground truth labels are difficult and expensive to acquire. In face recognition, large pose and…

Training robust bimanual manipulation policies via imitation learning requires demonstration data with broad coverage over robot poses, contacts, and scene contexts. However, collecting diverse and precise real-world demonstrations is…

In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…

Generalizable perception is one of the pillars of high-level autonomy in space robotics. Estimating the structure and motion of unknown objects in dynamic environments is fundamental for such autonomous systems. Traditionally, the solutions…

Tracking and manipulating irregularly-shaped, previously unseen objects in dynamic environments is important for robotic applications in manufacturing, assembly, and logistics. Recently introduced Gaussian Splats efficiently model object…

We present HOIGaze - a novel learning-based approach for gaze estimation during hand-object interactions (HOI) in extended reality (XR). HOIGaze addresses the challenging HOI setting by building on one key insight: The eye, hand, and head…

Novel view synthesis has demonstrated impressive progress recently, with 3D Gaussian splatting (3DGS) offering efficient training time and photorealistic real-time rendering. However, reliance on Cartesian coordinates limits 3DGS's…

Generating high-quality novel view renderings of 3D Gaussian Splatting (3DGS) in scenes featuring transient objects is challenging. We propose a novel hybrid representation, termed as HybridGS, using 2D Gaussians for transient objects per…

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…

Generating realistic 3D human-object interactions (HOIs) from text descriptions is a active research topic with potential applications in virtual and augmented reality, robotics, and animation. However, creating high-quality 3D HOIs remains…

3D Gaussian Splatting (3DGS) has gained significant attention for its real-time, photo-realistic rendering in novel-view synthesis and 3D modeling. However, existing methods struggle with accurately modeling scenes affected by transient…

3D Gaussian Splatting (3DGS) has gained significant attention for its real-time, photo-realistic rendering in novel-view synthesis and 3D modeling. However, existing methods struggle with accurately modeling in-the-wild scenes affected by…

We propose a novel 3D deepfake generation framework based on 3D Gaussian Splatting that enables realistic, identity-preserving face swapping and reenactment in a fully controllable 3D space. Compared to conventional 2D deepfake approaches…

Decomposing geometry, materials and lighting from a set of images, namely inverse rendering, has been a long-standing problem in computer vision and graphics. Recent advances in neural rendering enable photo-realistic and plausible inverse…

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…

Synthesizing whole-body manipulation of articulated objects, including body motion, hand motion, and object motion, is a critical yet challenging task with broad applications in virtual humans and robotics. The core challenges are twofold.…