相关论文: Task-Oriented Human Grasp Synthesis via Context- a…

We introduce DexYCB, a new dataset for capturing hand grasping of objects. We first compare DexYCB with a related one through cross-dataset evaluation. We then present a thorough benchmark of state-of-the-art approaches on three relevant…

We present a human-centric method to sample and synthesize 3D room layouts and 2D images thereof, to obtain large-scale 2D/3D image data with perfect per-pixel ground truth. An attributed spatial And-Or graph (S-AOG) is proposed to…

Human hand actions are quite complex, especially when they involve object manipulation, mainly due to the high dimensionality of the hand and the vast action space that entails. Imitating those actions with dexterous hand models involves…

Controllable scene synthesis consists of generating 3D information that satisfy underlying specifications. Thereby, these specifications should be abstract, i.e. allowing easy user interaction, whilst providing enough interface for detailed…

Recent years have witnessed a trend of the deep integration of the generation and reconstruction paradigms. In this paper, we extend the ability of controllable generative models for a more comprehensive hand mesh recovery task: direct hand…

Recent progress on physics-based character animation has shown impressive breakthroughs on human motion synthesis, through imitating motion capture data via deep reinforcement learning. However, results have mostly been demonstrated on…

As two intimate reciprocal tasks, scene-aware human motion synthesis and analysis require a joint understanding between multiple modalities, including 3D body motions, 3D scenes, and textual descriptions. In this paper, we integrate these…

In this paper, we propose a novel representation for grasping using contacts between multi-finger robotic hands and objects to be manipulated. This representation significantly reduces the prediction dimensions and accelerates the learning…

Predicting and generating human hand grasp over objects is critical for animation and robotic tasks. In this work, we focus on generating both the hand and objects in a grasp by a single diffusion model. Our proposed Joint Hand-Object…

Robotic grasping of house-hold objects has made remarkable progress in recent years. Yet, human grasps are still difficult to synthesize realistically. There are several key reasons: (1) the human hand has many degrees of freedom (more than…

With the primary objective of human-robot interaction being to support humans' goals, there exists a need to formally synthesize robot controllers that can provide the desired service. Synthesis techniques have the benefit of providing…

Terminal agents have demonstrated strong potential for autonomous command-line execution, yet their training remains constrained by the scarcity of high-quality and diverse execution trajectories. Existing approaches mitigate this…

Grasping is a fundamental capability for robots to interact with the physical world. Humans, equipped with two hands, autonomously select appropriate grasp strategies based on the shape, size, and weight of objects, enabling robust grasping…

We propose a fully automatic method for learning gestures on big touch devices in a potentially multi-user context. The goal is to learn general models capable of adapting to different gestures, user styles and hardware variations (e.g.…

In contact-rich tasks, like dexterous manipulation, the hybrid nature of making and breaking contact creates challenges for model representation and control. For example, choosing and sequencing contact locations for in-hand manipulation,…

Pointing is a key mode of interaction with robots, yet most prior work has focused on recognition rather than generation. We present a motion capture dataset of human pointing gestures covering diverse styles, handedness, and spatial…

Human-Scene Interaction (HSI) seeks to generate realistic human behaviors within complex environments, yet it faces significant challenges in handling long-horizon, high-level tasks and generalizing to unseen scenes. To address these…

Intelligent service robots require the ability to perform a variety of tasks in dynamic environments. Despite the significant progress in robotic grasping, it is still a challenge for robots to decide grasping position when given different…

This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide…

Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…