相关论文: Reconstructing Objects along Hand Interaction Time…

Egocentric interactive world models are essential for augmented reality and embodied AI, where visual generation must respond to user input with low latency, geometric consistency, and long-term stability. We study egocentric interaction…

The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…

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,…

Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…

We introduce a novel 3D hand pose estimator that can accurately recover the shape and pose of people's hands in a room from afar, typically from fixed cameras at room corners, in extremely low-resolution and frequently occluded views. Our…

Collecting large-scale egocentric video datasets with dense spatial and temporal annotations is costly, slow, and often constrained by environmental biases, privacy constraints, and limited coverage of interaction patterns. While synthetic…

Reconstructing interacting hands from monocular images is indispensable in AR/VR applications. Most existing solutions rely on the accurate localization of each skeleton joint. However, these methods tend to be unreliable due to the severe…

This paper proposes an interaction reasoning network for modelling spatio-temporal relationships between hands and objects in video. The proposed interaction unit utilises a Transformer module to reason about each acting hand, and its…

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…

Recovering world space 4D motion of two interacting hands from egocentric video is a fundamental capability for supervising robot policy learning, where wrist trajectories track the end-effector and finger articulations specify the grasp…

Accurate capture of human-object interaction from ubiquitous sensors like RGB cameras is important for applications in human understanding, gaming, and robot learning. However, inferring 4D interactions from a single RGB view is highly…

Learning how to interact with objects is an important step towards embodied visual intelligence, but existing techniques suffer from heavy supervision or sensing requirements. We propose an approach to learn human-object interaction…

We present RopeTP, a novel framework that combines Robust pose estimation with a diffusion Trajectory Prior to reconstruct global human motion from videos. At the heart of RopeTP is a hierarchical attention mechanism that significantly…

Pixel-level recognition of objects manipulated by the user from egocentric images enables key applications spanning assistive technologies, industrial safety, and activity monitoring. However, progress in this area is currently hindered by…

We propose an approach for reconstructing free-moving object from a monocular RGB video. Most existing methods either assume scene prior, hand pose prior, object category pose prior, or rely on local optimization with multiple sequence…

Reconstructing 3D models of dynamic, real-world objects with high-fidelity textures from monocular frame sequences has been a challenging problem in recent years. This difficulty stems from factors such as shadows, indirect illumination,…

Humans intuitively understand that inanimate objects do not move by themselves, but that state changes are typically caused by human manipulation (e.g., the opening of a book). This is not yet the case for machines. In part this is because…

We present HOIGaze - a novel learning-based approach for gaze estimation during hand-object interactions (HOI) in extended reality (XR). HOIGaze addresses the challenging HOI setting by building on one key insight: The eye, hand, and head…

Despite the recent progress on 6D object pose estimation methods for robotic grasping, a substantial performance gap persists between the capabilities of these methods on existing datasets and their efficacy in real-world grasping and…

Human-object contact serves as a strong cue to understand how humans physically interact with objects. Nevertheless, it is not widely explored to utilize human-object contact information for the joint reconstruction of 3D human and object…