3 papers
cs.CV2024
3D Hand Pose Estimation in Everyday Egocentric Images
Aditya Prakash, Ruisen Tu, Matthew Chang +1
3D hand pose estimation in everyday egocentric images is challenging for several reasons: poor visual signal (occlusion from the object of interaction, low resolution & motion blur…
cs.CV2024
3D Reconstruction of Objects in Hands without Real World 3D Supervision
Aditya Prakash, Matthew Chang, Matthew Jin +2
Prior works for reconstructing hand-held objects from a single image train models on images paired with 3D shapes. Such data is challenging to gather in the real world at scale. Co…
cs.RO2024
Diffusion Meets DAgger: Supercharging Eye-in-hand Imitation Learning
Xiaoyu Zhang, Matthew Chang, Pranav Kumar +1
A common failure mode for policies trained with imitation is compounding execution errors at test time. When the learned policy encounters states that are not present in the expert…