相关论文: Revisiting Performance Models of Distal Pointing T…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
Rapid, targeted hand movements exhibit a regular movement pattern described by Fitts law. We develop a model of these movements in which this movement pattern results from an optimal control model describing rapid hand movements and a…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…
We study the problem of functional retargeting: learning dexterous manipulation policies to track object states from human hand-object demonstrations. We focus on long-horizon, bimanual tasks with articulated objects, which is challenging…
Gestures play a pivotal role in human communication, often serving as a preferred or complementary medium to verbal expression due to their superior spatial reference capabilities. A finger-pointing gesture conveys vital information…
Introduction: Data from wearable devices collected in free-living settings, and labelled with physical activity behaviours compatible with health research, are essential for both validating existing wearable-based measurement approaches and…
While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning systems for dexterous manipulation often suffer from…
Visual perspective-taking (VPT), the ability to understand the viewpoint of another person, enables individuals to anticipate the actions of other people. For instance, a driver can avoid accidents by assessing what pedestrians see. Humans…
Research in manipulation of deformable objects is typically conducted on a limited range of scenarios, because handling each scenario on hardware takes significant effort. Realistic simulators with support for various types of deformations…
With recent advancements in Large Multimodal Models (LMMs) across various domains, a novel prompting method called visual referring prompting has emerged, showing significant potential in enhancing human-computer interaction within…
Understanding human actions from videos plays a critical role across various domains, including sports analytics. In figure skating, accurately recognizing the type and timing of jumps a skater performs is essential for objective…
Predicting human performance in interaction tasks allows designers or developers to understand the expected performance of a target interface without actually testing it with real users. In this work, we present a deep neural net to model…
User engagement modeling for manipulating actions in vision-based interfaces is one of the most important case studies of user mental state detection. In a Virtual Reality environment that employs camera sensors to recognize human…
Tactile information is a critical tool for dexterous manipulation. As humans, we rely heavily on tactile information to understand objects in our environments and how to interact with them. We use touch not only to perform manipulation…
For evaluations of 2D target selection using Fitts' law, ISO 9241-411 recommends using the effective target width (W_e) calculated using the univariate standard deviation of selection coordinates. Related research proposed using a bivariate…
In virtual reality, it is widely assumed that increased realism in hand-object interactions enhances user immersion and overall experience. However, recent studies challenge this assumption, suggesting that faithfully replicating real-world…
Augmented reality (AR) offers immersive interaction but remains inaccessible for users with motor impairments or limited dexterity due to reliance on precise input methods. This study proposes a gesture-based interaction system for AR…