相关论文: GRAZE: Grounded Refinement and Motion-Aware Zero-S…
Calibrating sports cameras is important for autonomous broadcasting and sports analysis. Here we propose a highly automatic method for calibrating sports cameras from a single image using synthetic data. First, we develop a novel camera…
In this paper, we introduce a Grasp Manifold Estimator (GraspME) to detect grasp affordances for objects directly in 2D camera images. To perform manipulation tasks autonomously it is crucial for robots to have such graspability models of…
We present a real-time gaze-based interaction simulation methodology using an offline dataset to evaluate the eye-tracking signal quality. This study employs three fundamental eye-movement classification algorithms to identify physiological…
Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse hand poses and plausible contact points. However, these…
Point tracking is becoming a powerful solver for motion estimation and video editing. Compared to classical feature matching, point tracking methods have the key advantage of robustly tracking points under complex camera motion trajectories…
Understanding social interactions requires reasoning over subtle non-verbal cues, yet current multimodal large language models (MLLMs) often fail to identify who interacts with whom in multi-person videos. We introduce GRASP, a large-scale…
Appearance-based gaze estimation, which uses only a regular camera to estimate human gaze, is important in various application fields. While the technique faces data bias issues, data collection protocol is often demanding, and collecting…
Accurate knee joint angle prediction is crucial for biomechanical analysis and rehabilitation. In this study, we introduce FocalGatedNet, a novel deep learning model that incorporates Dynamic Contextual Focus (DCF) Attention and Gated…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…
We study object motion path editing in videos, where the goal is to alter a target object's trajectory while preserving the original scene content. Unlike prior video editing methods that primarily manipulate appearance or rely on…
We introduce Grounded SAM, which uses Grounding DINO as an open-set object detector to combine with the segment anything model (SAM). This integration enables the detection and segmentation of any regions based on arbitrary text inputs and…
In this paper, we present Tac2Pose, an object-specific approach to tactile pose estimation from the first touch for known objects. Given the object geometry, we learn a tailored perception model in simulation that estimates a probability…
Automatically detecting graspable regions from a single depth image is a key ingredient in cloth manipulation. The large variability of cloth deformations has motivated most of the current approaches to focus on identifying specific…
Synthetic data and novel rendering techniques have greatly influenced computer vision research in tasks like target tracking and human pose estimation. However, robotics research has lagged behind in leveraging it due to the limitations of…
Evaluating simultaneous localization and mapping (SLAM) algorithms necessitates high-precision and dense ground truth (GT) trajectories. But obtaining desirable GT trajectories is sometimes challenging without GT tracking sensors. As an…
Grasp synthesis for 3D deformable objects remains a little-explored topic, most works aiming to minimize deformations. However, deformations are not necessarily harmful -- humans are, for example, able to exploit deformations to generate…
Grasping in cluttered scenes has always been a great challenge for robots, due to the requirement of the ability to well understand the scene and object information. Previous works usually assume that the geometry information of the objects…
In this paper, we study the problem of weakly-supervised temporal grounding of sentence in video. Specifically, given an untrimmed video and a query sentence, our goal is to localize a temporal segment in the video that semantically…
Visual affordance grounding aims to segment all possible interaction regions between people and objects from an image/video, which is beneficial for many applications, such as robot grasping and action recognition. However, existing methods…
Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception…