相关论文: InterMimic: Towards Universal Whole-Body Control f…
Text-conditioned motion synthesis has made remarkable progress with the emergence of diffusion models. However, the majority of these motion diffusion models are primarily designed for a single character and overlook multi-human…
Human-Object Interaction (HOI) detection is an important problem to understand how humans interact with objects. In this paper, we explore interactiveness knowledge which indicates whether a human and an object interact with each other or…
Human-Object Interaction (HOI) detection plays a crucial role in activity understanding. Though significant progress has been made, interactiveness learning remains a challenging problem in HOI detection: existing methods usually generate…
We introduce Robowheel, a data engine that converts human hand object interaction (HOI) videos into training-ready supervision for cross morphology robotic learning. From monocular RGB or RGB-D inputs, we perform high precision HOI…
In this study, we tackle the complex task of generating 3D human-object interactions (HOI) from textual descriptions in a zero-shot text-to-3D manner. We identify and address two key challenges: the unsatisfactory outcomes of direct…
Learning motion tracking from rich human motion data is a foundational task for achieving general control in humanoid robots, enabling them to perform diverse behaviors. However, discrepancies in morphology and dynamics between humans and…
Human-object interaction (HOI) synthesis is crucial for creating immersive and realistic experiences for applications such as virtual reality. Existing methods often rely on simplified object representations, such as the object's centroid…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
A common vision from science fiction is that robots will one day inhabit our physical spaces, sense the world as we do, assist our physical labours, and communicate with us through natural language. Here we study how to design artificial…
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,…
Human-Machine Interaction (HMI) systems have gained huge interest in recent years, with reference expression comprehension being one of the main challenges. Traditionally human-machine interaction has been mostly limited to speech and…
Learning physical interaction skills, such as dancing, handshaking, or sparring, remains a fundamental challenge for agents operating in human environments, particularly when the agent's morphology differs significantly from that of the…
Humans exhibit diverse and expressive whole-body movements. However, attaining human-like whole-body coordination in humanoid robots remains challenging, as conventional approaches that mimic whole-body motions often neglect the distinct…
Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a…
Human-scene Interaction (HSI) generation is a challenging task and crucial for various downstream tasks. However, one of the major obstacles is its limited data scale. High-quality data with simultaneously captured human and 3D environments…
Understanding and synthesizing realistic 3D hand-object interactions (HOI) is critical for applications ranging from immersive AR/VR to dexterous robotics. Existing methods struggle with generalization, performing well on closed-set objects…
Humans are highly adaptable, swiftly switching between different modes to progressively handle different tasks, situations and contexts. In Human-object interaction (HOI) activities, these modes can be attributed to two mechanisms: (1) the…
Human-centric video generation has advanced rapidly, yet existing methods struggle to produce controllable and physically consistent Human-Object Interaction (HOI) videos. Existing works rely on dense control signals, template videos, or…
This paper focuses on Human-Object Interaction (HOI) detection, addressing the challenge of identifying and understanding the interactions between humans and objects within a given image or video frame. Spearheaded by Detection Transformer…
Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collaborative capabilities in shared environments. Although recent advancements have significantly enhanced the agility of individual…