32 citations · 49 across the 11 of their papers we have counts for
11 papers
Dexterous Manipulation Policies from RGB Human Videos via 3D Hand-Object Trajectory Reconstruction
Hongyi Chen, Tony Dong, Tiancheng Wu +7
Multi-finger robotic hand manipulation and grasping are challenging due to the high-dimensional action space and the difficulty of acquiring large-scale training data. Existing app…
Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching
Sirui Chen, Yufei Ye, Zi-Ang Cao +3
We propose Hand-Eye Autonomous Delivery (HEAD), a framework that learns navigation, locomotion, and reaching skills for humanoids, directly from human motion and vision perception…
Web2Grasp: Learning Functional Grasps from Web Images of Hand-Object Interactions
Hongyi Chen, Yunchao Yao, Yufei Ye +8
Functional grasping is essential for enabling dexterous multi-finger robot hands to manipulate objects effectively. Prior work largely focuses on power grasps, which only involve h…
G-HOP: Generative Hand-Object Prior for Interaction Reconstruction and Grasp Synthesis
Yufei Ye, Abhinav Gupta, Kris Kitani +1
We propose G-HOP, a denoising diffusion based generative prior for hand-object interactions that allows modeling both the 3D object and a human hand, conditioned on the object cate…
Diffusion-Guided Reconstruction of Everyday Hand-Object Interaction Clips
Yufei Ye, Poorvi Hebbar, Abhinav Gupta +1
We tackle the task of reconstructing hand-object interactions from short video clips. Given an input video, our approach casts 3D inference as a per-video optimization and recovers…
Affordance Diffusion: Synthesizing Hand-Object Interactions
Yufei Ye, Xueting Li, Abhinav Gupta +5
Recent successes in image synthesis are powered by large-scale diffusion models. However, most methods are currently limited to either text- or image-conditioned generation for syn…
What's in your hands? 3D Reconstruction of Generic Objects in Hands
Yufei Ye, Abhinav Gupta, Shubham Tulsiani
Our work aims to reconstruct hand-held objects given a single RGB image. In contrast to prior works that typically assume known 3D templates and reduce the problem to 3D pose estim…
Shelf-Supervised Mesh Prediction in the Wild
Yufei Ye, Shubham Tulsiani, Abhinav Gupta
We aim to infer 3D shape and pose of object from a single image and propose a learning-based approach that can train from unstructured image collections, supervised by only segment…
Object-centric Forward Modeling for Model Predictive Control
Yufei Ye, Dhiraj Gandhi, Abhinav Gupta +1
We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model…
Compositional Video Prediction
Yufei Ye, Maneesh Singh, Abhinav Gupta +1
We present an approach for pixel-level future prediction given an input image of a scene. We observe that a scene is comprised of distinct entities that undergo motion and present…
Zero-shot Recognition via Semantic Embeddings and Knowledge Graphs
Xiaolong Wang, Yufei Ye, Abhinav Gupta
We consider the problem of zero-shot recognition: learning a visual classifier for a category with zero training examples, just using the word embedding of the category and its rel…