相关论文: RoboWheel: A Data Engine from Real-World Human Dem…

Human-centric video generation has advanced rapidly, yet existing methods struggle to produce controllable and physically consistent Human-Object Interaction (HOI) videos. Existing works rely on dense control signals, template videos, or…

A dominant paradigm for teaching humanoid robots complex skills is to retarget human motions as kinematic references to train reinforcement learning (RL) policies. However, existing retargeting pipelines often struggle with the significant…

Learning manipulation skills from human demonstration videos presents a promising yet challenging problem, primarily due to the significant embodiment gap between human body and robot manipulators. Existing methods rely on paired datasets…

Scaling robot learning requires vast and diverse datasets. Yet the prevailing data collection paradigm-human teleoperation-remains costly and constrained by manual effort and physical robot access. We introduce Real2Render2Real (R2R2R), a…

Quadrupedal robots have demonstrated impressive locomotion capabilities in complex environments, but equipping them with autonomous versatile manipulation skills in a scalable way remains a significant challenge. In this work, we introduce…

Robots have been successfully used to perform tasks with high precision. In real-world environments with sparse rewards and multiple goals, learning is still a major challenge and Reinforcement Learning (RL) algorithms fail to learn good…

This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this task requires a mobile robot to reliably receive objects in a…

Human-Object Interaction (HOI) detection is crucial for robot-human assistance, enabling context-aware support. However, models trained on clean datasets degrade in real-world conditions due to unforeseen corruptions, leading to inaccurate…

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…

Modeling human-object interactions (HOI) from an egocentric perspective is a critical yet challenging task, particularly when relying on sparse signals from wearable devices like smart glasses and watches. We present ECHO, the first unified…

Synthesizing realistic human-object interaction (HOI) is essential for 3D computer vision and robotics, underpinning animation and embodied control. Existing approaches often require manually specified intermediate waypoints and place all…

Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…

Human-robot interaction (HRI) has become a crucial enabler in houses and industries for facilitating operational flexibility. When it comes to mobile collaborative robots, this flexibility can be further increased due to the autonomous…

This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often suffer from limited portability,…

Mimicry is a fundamental learning mechanism in humans, enabling individuals to learn new tasks by observing and imitating experts. However, applying this ability to robots presents significant challenges due to the inherent differences…

Embodied intelligence aims to enable robots to learn, reason, and generalize robustly across complex real-world environments. However, existing approaches often struggle with partial observability, fragmented spatial reasoning, and…

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…

Human-Object Interaction (HOI) recognition in videos is important for analyzing human activity. Most existing work focusing on visual features usually suffer from occlusion in the real-world scenarios. Such a problem will be further…

From loco-motion to dextrous manipulation, humanoid robots have made remarkable strides in demonstrating complex full-body capabilities. However, the majority of current robot learning datasets and benchmarks mainly focus on stationary…

We present Holoview, an augmented reality (AR) system designed to support immersive and interactive learning of human anatomy. Holoview enables users to dynamically explore volumetric anatomical data through intuitive hand gestures in a 3D…