相关论文: MyoKin3X: A Myoelectric Framework for Full-Hand 3D…
For Embodied AI, jointly reconstructing dynamic hands and the dense scene context is crucial for understanding physical interaction. However, most existing methods recover isolated hands in local coordinates, overlooking the surrounding 3D…
This paper presents a mutual information (MI) based algorithm for the estimation of full 6-degree-of-freedom (DOF) rigid body transformation between two overlapping point clouds. We first divide the scene into a 3D voxel grid and define…
3D pre-training is crucial to 3D perception tasks. Nevertheless, limited by the difficulties in collecting clean and complete 3D data, 3D pre-training has persistently faced data scaling challenges. In this work, we introduce a novel…
Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location…
Fully-supervised monocular 3D hand reconstruction is often difficult because capturing the requisite 3D data entails deploying specialized equipment in a controlled environment. We introduce a weakly-supervised method that avoids such…
Electromyography (EMG) is a measure of muscular electrical activity and is used in many clinical/biomedical disciplines and modern human computer interaction. Myo-electric prosthetics analyze and classify the electrical signals recorded…
Robust 3D human pose estimation is crucial to ensure safe and effective human-robot collaboration. Accurate human perception,however, is particularly challenging in these scenarios due to strong occlusions and limited camera viewpoints.…
Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…
Grip force is commonly used as an overall health indicator in older adults and is valuable for tracking progress in physical training and rehabilitation. Existing methods for wearable grip force measurement are cumbersome and…
This work presents a new version of the tactile-sensing finger GelSlim 3.0, which integrates the ability to sense high-resolution shape, force, and slip in a compact form factor for use with small parallel jaw grippers in cluttered…
Advancing robotic manipulation of deformable objects can enable automation of repetitive tasks across multiple industries, from food processing to textiles and healthcare. Yet robots struggle with the high dimensionality of deformable…
3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…
Muscle contraction is often detected via EMG in prosthetics. However, signal disturbances due to electrode motions can lead to misinterpretations. Therefore, alternative measurement approaches are desired to increase the reliability of the…
For elastomer-based tactile sensors, represented by visuotactile sensors, routine calibration of mechanical parameters (Young's modulus and Poisson's ratio) has been shown to be important for force reconstruction. However, the reliance on…
Accurate 3D kinematics estimation of human body is crucial in various applications for human health and mobility, such as rehabilitation, injury prevention, and diagnosis, as it helps to understand the biomechanical loading experienced…
Traditional AI algorithms, such as Genetic Programming and Reinforcement Learning, often require extensive computational resources to simulate real-world physical scenarios effectively. While advancements in multi-core processing have been…
In industrial scenarios, effective human-robot collaboration relies on multi-camera systems to robustly monitor human operators despite the occlusions that typically show up in a robotic workcell. In this scenario, precise localization of…
3D medical image classification is essential for modern clinical workflows. Medical foundation models (FMs) have emerged as a promising approach for scaling to new tasks, yet current research suffers from three critical pitfalls:…
Commercially accessible dexterous robot hands are increasingly prevalent, but many remain difficult to use as scientific instruments. For example, the Inspire RH56DFX hand exposes only uncalibrated proprioceptive information and shows…
Recent developments in 3D generative AI enable users to create bespoke 3D models from text or image prompts. However, these approaches provide limited control over spatial structure, making them ill suited for tasks requiring precise…