相关论文: Uni-Hand: Universal Hand Motion Forecasting in Ego…

3D hand pose estimation in everyday egocentric images is challenging for several reasons: poor visual signal (occlusion from the object of interaction, low resolution & motion blur), large perspective distortion (hands are close to the…

This paper digs deeper into factors that influence egocentric gaze. Instead of training deep models for this purpose in a blind manner, we propose to inspect factors that contribute to gaze guidance during daily tasks. Bottom-up saliency…

Hand tracking holds great promise for intuitive interaction paradigms, but frame-based methods often struggle to meet the requirements of accuracy, low latency, and energy efficiency, especially in resource-constrained settings such as…

In embodied intelligence, the embodiment gap between robotic and human hands brings significant challenges for learning from human demonstrations. Although some studies have attempted to bridge this gap using reinforcement learning, they…

We propose an approach to estimate arm and hand dynamics from monocular video by utilizing the relationship between arm and hand. Although monocular full human motion capture technologies have made great progress in recent years, recovering…

Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…

Multi-fingered hands are emerging as powerful platforms for performing fine manipulation tasks, including tool use. However, environmental perturbations or execution errors can impede task performance, motivating the use of recovery…

Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…

As head-mounted displays (HMDs) with eye-tracking become increasingly accessible, the need for effective gaze-based interfaces in virtual reality (VR) grows. Traditional gaze- or hand-based navigation often limits user precision or impairs…

Robust and accurate perception of humans in their 3D scene context is essential for integrating robots into everyday environments. Existing approaches, however, often fail to predict plausible and accurate human motion estimates that are…

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…

Looking at a person's hands one often can tell what the person is going to do next, how his/her hands are moving and where they will be, because an actor's intentions shape his/her movement kinematics during action execution. Similarly,…

Markerless tracking of hands and fingers is a promising enabler for human-computer interaction. However, adoption has been limited because of tracking inaccuracies, incomplete coverage of motions, low framerate, complex camera setups, and…

We introduce and evaluate several architectures for Convolutional Neural Networks to predict the 3D joint locations of a hand given a depth map. We first show that a prior on the 3D pose can be easily introduced and significantly improves…

This paper introduces a Multi-modal Diffusion model for Motion Prediction (MDMP) that integrates and synchronizes skeletal data and textual descriptions of actions to generate refined long-term motion predictions with quantifiable…

Human comprehension of a video stream is naturally broad: in a few instants, we are able to understand what is happening, the relevance and relationship of objects, and forecast what will follow in the near future, everything all at once.…

When performing tasks like laundry, humans naturally coordinate both hands to manipulate objects and anticipate how their actions will change the state of the clothes. However, achieving such coordination in robotics remains challenging due…

Dexterous grasp datasets are vital for embodied intelligence, but mostly emphasize grasp stability, ignoring functional grasps needed for tasks like opening bottle caps or holding cup handles. Most rely on bulky, costly, and hard-to-control…

The pursuit of accurate 3D hand pose estimation stands as a keystone for understanding human activity in the realm of egocentric vision. The majority of existing estimation methods still rely on single-view images as input, leading to…