相关论文: Hoi! - A Multimodal Dataset for Force-Grounded, Cr…

Robots are becoming increasingly integrated into our lives, assisting us in various tasks. To ensure effective collaboration between humans and robots, it is essential that they understand our intentions and anticipate our actions. In this…

Generating realistic and physically plausible 3D Human-Object Interactions (HOI) remains a key challenge in motion generation. One primary reason is that describing these physical constraints with words alone is difficult. To address this…

Assembly101 is a new procedural activity dataset featuring 4321 videos of people assembling and disassembling 101 "take-apart" toy vehicles. Participants work without fixed instructions, and the sequences feature rich and natural variations…

We address key limitations in existing datasets and models for task-oriented hand-object interaction video generation, a critical approach of generating video demonstrations for robotic imitation learning. Current datasets, such as Ego4D,…

Human-Object Interaction (HOI) detection is a challenging computer vision task that requires visual models to address the complex interactive relationship between humans and objects and predict HOI triplets. Despite the challenges posed by…

Understanding the human-object interactions (HOIs) from a video is essential to fully comprehend a visual scene. This line of research has been addressed by detecting HOIs from images and lately from videos. However, the video-based HOI…

Understanding objects through multiple sensory modalities is fundamental to human perception, enabling cross-sensory integration and richer comprehension. For AI and robotic systems to replicate this ability, access to diverse, high-quality…

Human life is populated with articulated objects. A comprehensive understanding of articulated objects, namely appearance, structure, physics property, and semantics, will benefit many research communities. As current articulated object…

Spatio-temporal Human-Object Interaction (ST-HOI) understanding aims at detecting HOIs from videos, which is crucial for activity understanding. However, existing whole-body-object interaction video benchmarks overlook the truth that…

Hand gesture understanding is essential for several applications in human-computer interaction, including automatic clinical assessment of hand dexterity. While deep learning has advanced static gesture recognition, dynamic gesture…

Training computers to understand, model, and synthesize human grasping requires a rich dataset containing complex 3D object shapes, detailed contact information, hand pose and shape, and the 3D body motion over time. While "grasping" is…

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…

Dual-arm robotic grasping is crucial for handling large objects that require stable and coordinated manipulation. While single-arm grasping has been extensively studied, datasets tailored for dual-arm settings remain scarce. We introduce a…

We present the HANDAL dataset for category-level object pose estimation and affordance prediction. Unlike previous datasets, ours is focused on robotics-ready manipulable objects that are of the proper size and shape for functional grasping…

We present DreamHOI, a novel method for zero-shot synthesis of human-object interactions (HOIs), enabling a 3D human model to realistically interact with any given object based on a textual description. This task is complicated by the…

We present BimArt, a novel generative approach for synthesizing 3D bimanual hand interactions with articulated objects. Unlike prior works, we do not rely on a reference grasp, a coarse hand trajectory, or separate modes for grasping and…

Hands are the central means by which humans manipulate their world and being able to reliably extract hand state information from Internet videos of humans engaged in their hands has the potential to pave the way to systems that can learn…

Hand-object interaction (HOI) inherently involves dynamics where human manipulations produce distinct spatio-temporal effects on objects. However, existing semantic HOI benchmarks focused either on manipulation or on the resulting effects…

Humans have long been recorded in a variety of forms since antiquity. For example, sculptures and paintings were the primary media for depicting human beings before the invention of cameras. However, most current human-centric computer…

We propose HOI Transformer to tackle human object interaction (HOI) detection in an end-to-end manner. Current approaches either decouple HOI task into separated stages of object detection and interaction classification or introduce…