7 papers
Tactus: Tactile & Pose Sensing Glove for Natural Dexterity Data Collection
Li Guan, Rachael Granberry, Sahar Aseeri +102
Collecting naturalistic human manipulation demonstrations with accurate contact force and hand pose is essential for robot dexterous manipulation policy and foundational world mode…
Fiber Optic Sensing Glove for High Performance Dexterous Manipulation Capture
J. D. Peiffer, Taylor Niehues, Li Guan +2
Capturing hand pose during dexterous manipulation remains difficult: vision-based methods degrade under occlusion and challenging lighting, while sensorized gloves, though occlusio…
Pose-Aware Modeling to Mitigate Pose-Related Artifacts in Tactile Gloves
Tianhong Catherine Yu, Ziyi Kou, Mia Huang +4
Tactile gloves digitize contact and force during hand-object interactions, enabling robotics applications in dexterous manipulation, teleoperation, and learning from demonstration.…
AVI-HT: Adaptive Vision-IMU Fusion for 3D Hand Tracking
Ziyi Kou, Ankit Kumar, Mia Huang +4
We present AVI-HT, an adaptive visual-IMU fusion approach for tracking 3D hand poses by jointly modeling the egocentric image with on-glove 6-DoF IMU signals. AVI-HT achieves signi…
Glove2Hand: Synthesizing Natural Hand-Object Interaction from Multi-Modal Sensing Gloves
Xinyu Zhang, Ziyi Kou, Chuan Qin +7
Understanding hand-object interaction (HOI) is fundamental to computer vision, robotics, and AR/VR. However, conventional hand videos often lack essential physical information such…
AirGlove: Exploring Egocentric 3D Hand Tracking and Appearance Generalization for Sensing Gloves
Wenhui Cui, Ziyi Kou, Chuan Qin +2
Sensing gloves have become important tools for teleoperation and robotic policy learning as they are able to provide rich signals like speed, acceleration and tactile feedback. A c…
Flowing from Reasoning to Motion: Learning 3D Hand Trajectory Prediction from Egocentric Human Interaction Videos
Mingfei Chen, Yifan Wang, Zhengqin Li +10
Prior works on 3D hand trajectory prediction are constrained by datasets that decouple motion from semantic supervision and by models that weakly link reasoning and action. To addr…