相关论文: BG-HOP: A Bimanual Generative Hand-Object Prior

We propose CG-HOI, the first method to address the task of generating dynamic 3D human-object interactions (HOIs) from text. We model the motion of both human and object in an interdependent fashion, as semantically rich human motion rarely…

First-person hand-object interaction anticipation aims to predict the interaction process over a forthcoming period based on current scenes and prompts. This capability is crucial for embodied intelligence and human-robot collaboration. The…

We address the challenging task of text-driven 3D human-object interaction (HOI) motion generation. Existing methods primarily rely on a direct text-to-HOI mapping, which suffers from three key limitations due to the significant…

This paper presents a novel object-centric contact representation ContactGen for hand-object interaction. The ContactGen comprises three components: a contact map indicates the contact location, a part map represents the contact hand part,…

Recent advances in dexterous grasping synthesis have demonstrated significant progress in producing reasonable and plausible grasps for many task purposes. But it remains challenging to generalize to unseen object categories and diverse…

Generating natural hand-object interactions in 3D is challenging as the resulting hand and object motions are expected to be physically plausible and semantically meaningful. Furthermore, generalization to unseen objects is hindered by the…

Generating large-scale demonstrations for dexterous hand manipulation remains challenging, and several approaches have been proposed in recent years to address this. Among them, generative models have emerged as a promising paradigm,…

Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…

We propose a novel system for robot-to-human object handover that emulates human coworker interactions. Unlike most existing studies that focus primarily on grasping strategies and motion planning, our system focus on 1. inferring human…

Generating realistic 3D hand-object interactions (HOI) is a fundamental challenge in computer vision and robotics, requiring both temporal coherence and high-fidelity physical plausibility. Existing methods remain limited in their ability…

Hand-object interaction(HOI) is the fundamental link between human and environment, yet its dexterous and complex pose significantly challenges for gesture control. Despite significant advances in AI and robotics, enabling machines to…

Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work…

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…

The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…

Hand-object pose estimation (HOPE) aims to jointly detect the poses of both a hand and of a held object. In this paper, we propose a lightweight model called HOPE-Net which jointly estimates hand and object pose in 2D and 3D in real-time.…

While predicting robot grasps with parallel jaw grippers have been well studied and widely applied in robot manipulation tasks, the study on natural human grasp generation with a multi-finger hand remains a very challenging problem. In this…

Robot grasping is an actively studied area in robotics, mainly focusing on the quality of generated grasps for object manipulation. However, despite advancements, these methods do not consider the human-robot collaboration settings where…

Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…

We present a system for learning generalizable hand-object tracking controllers purely from synthetic data, without requiring any human demonstrations. Our approach makes two key contributions: (1) HOP, a Hand-Object Planner, which can…

Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…