相关论文: QORT-Former: Query-optimized Real-time Transformer…

We propose a new dataset and a novel approach to learning hand-object interaction priors for hand and articulated object pose estimation. We first collect a dataset using visual teleoperation, where the human operator can directly play…

Facial expression recognition (FER) is a challenging topic in artificial intelligence. Recently, many researchers have attempted to introduce Vision Transformer (ViT) to the FER task. However, ViT cannot fully utilize emotional features…

Interaction intention anticipation aims to jointly predict future hand trajectories and interaction hotspots. Existing research often treated trajectory forecasting and interaction hotspots prediction as separate tasks or solely considered…

Recently, transformer-based networks have shown impressive results in semantic segmentation. Yet for real-time semantic segmentation, pure CNN-based approaches still dominate in this field, due to the time-consuming computation mechanism of…

Multi-agent collaborative perception enhances each agent perceptual capabilities by sharing sensing information to cooperatively perform robot perception tasks. This approach has proven effective in addressing challenges such as sensor…

Transformers have been successfully applied in the field of video-based 3D human pose estimation. However, the high computational costs of these video pose transformers (VPTs) make them impractical on resource-constrained devices. In this…

Recently, fully-transformer architectures have replaced the defacto convolutional architecture for the 3D human pose estimation task. In this paper we propose \textbf{\textit{ConvFormer}}, a novel convolutional transformer that leverages a…

Robotic arms require precise, task-aware trajectory planning, yet sequence models that ignore motion structure often yield invalid or inefficient executions. We present a Path-based Transformer that encodes robot motion with a 3-grid…

We construct the first markerless deformable interaction dataset recording interactive motions of the hands and deformable objects, called HMDO (Hand Manipulation with Deformable Objects). With our built multi-view capture system, it…

Transformer-based approaches have been successfully proposed for 3D human pose estimation (HPE) from 2D pose sequence and achieved state-of-the-art (SOTA) performance. However, current SOTAs have difficulties in modeling spatial-temporal…

Transformers are among the state of the art for many tasks in speech, vision, and natural language processing, among others. Self-attentions, which are crucial contributors to this performance have quadratic computational complexity, which…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

For 3D object manipulation, methods that build an explicit 3D representation perform better than those relying only on camera images. But using explicit 3D representations like voxels comes at large computing cost, adversely affecting…

3D hand-object pose estimation is the key to the success of many computer vision applications. The main focus of this task is to effectively model the interaction between the hand and an object. To this end, existing works either rely on…

Human action recognition has recently become one of the popular research topics in the computer vision community. Various 3D-CNN based methods have been presented to tackle both the spatial and temporal dimensions in the task of video…

Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize…

Real-time recognition and prediction of surgical activities are fundamental to advancing safety and autonomy in robot-assisted surgery. This paper presents a multimodal transformer architecture for real-time recognition and prediction of…

Sequential DeepFake detection is an emerging task that predicts the manipulation sequence in order. Existing methods typically formulate it as an image-to-sequence problem, employing conventional Transformer architectures. However, these…

Transformer-based models have achieved top performance on major video recognition benchmarks. Benefiting from the self-attention mechanism, these models show stronger ability of modeling long-range dependencies compared to CNN-based models.…

Understanding dynamic hand motions and actions from egocentric RGB videos is a fundamental yet challenging task due to self-occlusion and ambiguity. To address occlusion and ambiguity, we develop a transformer-based framework to exploit…