相关论文: Learning Whole-Body Human-Humanoid Interaction fro…

The primary objective of human activity recognition (HAR) is to infer ongoing human actions from sensor data, a task that finds broad applications in health monitoring, safety protection, and sports analysis. Despite proliferating research,…

Human-object interaction (HOI) synthesis is important for various applications, ranging from virtual reality to robotics. However, acquiring 3D HOI data is challenging due to its complexity and high cost, limiting existing methods to the…

Reconstructing human-object interactions (HOI) from single images is fundamental in computer vision. Existing methods are primarily trained and tested on indoor scenes due to the lack of 3D data, particularly constrained by the object…

Learning dexterous and agile policy for humanoid and dexterous hand control requires large-scale demonstrations, but collecting robot-specific data is prohibitively expensive. In contrast, abundant human motion data is readily available…

To better interact with users, a social robot should understand the users' behavior, infer the intention, and respond appropriately. Machine learning is one way of implementing robot intelligence. It provides the ability to automatically…

Achieving realistic simulations of humans interacting with a wide range of objects has long been a fundamental goal. Extending physics-based motion imitation to complex human-object interactions (HOIs) is challenging due to intricate…

Detecting human-object interactions (HOI) is an important step toward a comprehensive visual understanding of machines. While detecting non-temporal HOIs (e.g., sitting on a chair) from static images is feasible, it is unlikely even for…

Generating realistic 3D Human-Object Interactions (HOI) is a fundamental task for applications ranging from embodied AI to virtual content creation, which requires harmonizing high-level semantic intent with strict low-level physical…

With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration…

Interactive visual grounding in Human-Robot Interaction (HRI) is challenging yet practical due to the inevitable ambiguity in natural languages. It requires robots to disambiguate the user input by active information gathering. Previous…

Human-Object Interaction (HOI) detection is a core task for human-centric image understanding. Recent one-stage methods adopt a transformer decoder to collect image-wide cues that are useful for interaction prediction; however, the…

Reconstructing 3D human-object interaction (HOI) from single-view RGB images is challenging due to the absence of depth information and potential occlusions. Existing methods simply predict the body poses merely rely on network training on…

We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two…

Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challenge. We present a system that combines a modular…

Learning the prior knowledge of the 3D human-object spatial relation is crucial for reconstructing human-object interaction from images and understanding how humans interact with objects in 3D space. Previous works learn this prior from…

Recent advancements in diffusion models have led to significant improvements in the generation and animation of 4D full-body human-object interactions (HOI). Nevertheless, existing methods primarily focus on SMPL-based motion generation,…

This paper addresses a novel task of anticipating 3D human-object interactions (HOIs). Most existing research on HOI synthesis lacks comprehensive whole-body interactions with dynamic objects, e.g., often limited to manipulating small or…

3D human-object interaction (HOI) anticipation aims to predict the future motion of humans and their manipulated objects, conditioned on the historical context. Generally, the articulated humans and rigid objects exhibit different motion…

Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…

With the advances in robotic technology, research in human-robot collaboration (HRC) has gained in importance. For robots to interact with humans autonomously they need active decision making that takes human partners into account. However,…