相关论文: Object-centric 3D Motion Field for Robot Learning …

3D human motion prediction, predicting future poses from a given sequence, is an issue of great significance and challenge in computer vision and machine intelligence, which can help machines in understanding human behaviors. Due to the…

We introduce a novel motion estimation method, MaskFlow, that is capable of estimating accurate motion fields, even in very challenging cases with small objects, large displacements and drastic appearance changes. In addition to lower-level…

Our work aims to obtain 3D reconstruction of hands and manipulated objects from monocular videos. Reconstructing hand-object manipulations holds a great potential for robotics and learning from human demonstrations. The supervised learning…

The pipeline of current robotic pick-and-place methods typically consists of several stages: grasp pose detection, finding inverse kinematic solutions for the detected poses, planning a collision-free trajectory, and then executing the…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to articulate novel objects with no prior interaction, after…

The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

This paper proposes an inverse optimal control method which enables a robot to incrementally learn a control objective function from a collection of trajectory segments. By saying incrementally, it means that the collection of trajectory…

Learning 3D human motion from 2D inputs is a fundamental task in the realms of computer vision and computer graphics. Many previous methods grapple with this inherently ambiguous task by introducing motion priors into the learning process.…

From Vision-Language-Action (VLA) systems to robotics, existing egocentric datasets primarily focus on action recognition tasks, while largely overlooking the inherent role of motion analysis in sports and other fast-movement scenarios. To…

We introduce a novel task of reconstructing a time series of second-person 3D human body meshes from monocular egocentric videos. The unique viewpoint and rapid embodied camera motion of egocentric videos raise additional technical barriers…

What is the right object representation for manipulation? We would like robots to visually perceive scenes and learn an understanding of the objects in them that (i) is task-agnostic and can be used as a building block for a variety of…

Generating human motions from textual descriptions has gained growing research interest due to its wide range of applications. However, only a few works consider human-scene interactions together with text conditions, which is crucial for…

Robotic manipulation requires anticipating how the environment evolves in response to actions, yet most existing systems lack this predictive capability, often resulting in errors and inefficiency. While Vision-Language Models (VLMs)…

Humans interact in rich and diverse ways with the environment. However, the representation of such behavior by artificial agents is often limited. In this work we present \textit{motion concepts}, a novel multimodal representation of human…

Humans have a strong intuitive understanding of the 3D environment around us. The mental model of the physics in our brain applies to objects of different materials and enables us to perform a wide range of manipulation tasks that are far…

With the advancement in computer vision deep learning, systems now are able to analyze an unprecedented amount of rich visual information from videos to enable applications such as autonomous driving, socially-aware robot assistant and…

Action recognition and pose estimation from videos are closely related to understand human motions, but more literature focuses on how to solve pose estimation tasks alone from action recognition. This research shows a faster and more…

3D human pose estimation from a monocular video has recently seen significant improvements. However, most state-of-the-art methods are kinematics-based, which are prone to physically implausible motions with pronounced artifacts. Current…