26 citations · 108 across the 31 of their papers we have counts for
4 papers · 1 filter
Motion Before Action: Diffusing Object Motion as Manipulation Condition
Yue Su, Xinyu Zhan, Hongjie Fang +3
Inferring object motion representations from observations enhances the performance of robotic manipulation tasks. This paper introduces a new paradigm for robot imitation learning…
Multi-view Hand Reconstruction with a Point-Embedded Transformer
Lixin Yang, Licheng Zhong, Pengxiang Zhu +4
This work introduces a novel and generalizable multi-view Hand Mesh Reconstruction (HMR) model, named POEM, designed for practical use in real-world hand motion capture scenarios.…
SemGrasp: Semantic Grasp Generation via Language Aligned Discretization
Kailin Li, Jingbo Wang, Lixin Yang +2
Generating natural human grasps necessitates consideration of not just object geometry but also semantic information. Solely depending on object shape for grasp generation confines…
OAKINK2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completion
Xinyu Zhan, Lixin Yang, Yifei Zhao +5
We present OAKINK2, a dataset of bimanual object manipulation tasks for complex daily activities. In pursuit of constructing the complex tasks into a structured representation, OAK…