Interdiff: Generating 3d human-object interactions with physics-informed diffusion
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 …
existing research on HOI synthesis lacks comprehensive whole-body interactions with …
Graspnet-1billion: A large-scale benchmark for general object gras**
Object gras** is critical for many applications, which is also a challenging computer vision
problem. However, for cluttered scene, current researches suffer from the problems of …
problem. However, for cluttered scene, current researches suffer from the problems of …
Unidexgrasp: Universal robotic dexterous gras** via learning diverse proposal generation and goal-conditioned policy
In this work, we tackle the problem of learning universal robotic dexterous gras** from a
point cloud observation under a table-top setting. The goal is to grasp and lift up objects in …
point cloud observation under a table-top setting. The goal is to grasp and lift up objects in …
ContactPose: A dataset of grasps with object contact and hand pose
Gras** is natural for humans. However, it involves complex hand configurations and soft
tissue deformation that can result in complicated regions of contact between the hand and …
tissue deformation that can result in complicated regions of contact between the hand and …
Affordpose: A large-scale dataset of hand-object interactions with affordance-driven hand pose
How human interact with objects depends on the functional roles of the target objects, which
introduces the problem of affordance-aware hand-object interaction. It requires a large …
introduces the problem of affordance-aware hand-object interaction. It requires a large …
Hand-object contact consistency reasoning for human grasps generation
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 …
applied in robot manipulation tasks, the study on natural human grasp generation with a …
Cams: Canonicalized manipulation spaces for category-level functional hand-object manipulation synthesis
In this work, we focus on a novel task of category-level functional hand-object manipulation
synthesis covering both rigid and articulated object categories. Given an object geometry, an …
synthesis covering both rigid and articulated object categories. Given an object geometry, an …
NeuralFeels with neural fields: Visuotactile perception for in-hand manipulation
To achieve human-level dexterity, robots must infer spatial awareness from multimodal
sensing to reason over contact interactions. During in-hand manipulation of novel objects …
sensing to reason over contact interactions. During in-hand manipulation of novel objects …
Gras** field: Learning implicit representations for human grasps
Robotic gras** of house-hold objects has made remarkable progress in recent years. Yet,
human grasps are still difficult to synthesize realistically. There are several key reasons:(1) …
human grasps are still difficult to synthesize realistically. There are several key reasons:(1) …