10 papers
Hand-centric Human-to-Robot Trajectory Transfer from Video Demonstrations via Open-World Contact Localization
Yitian Shi, Di Wen, Zhengqi Han +6
Learning from human video demonstrations remains challenging due to noisy hand-object interactions, unseen objects with partial observation, and cross-embodiment discrepancy. To ad…
IMPACT: A Dataset for Multi-Granularity Human Procedural Action Understanding in Industrial Assembly
Di Wen, Zeyun Zhong, David Schneider +18
We introduce IMPACT, a synchronized five-view RGB-D dataset for deployment-oriented industrial procedural understanding, built around real assembly and disassembly of a commercial…
Go Beyond Earth: Understanding Human Actions and Scenes in Microgravity Environments
Di Wen, Lei Qi, Kunyu Peng +9
Despite substantial progress in video understanding, most existing datasets are limited to Earth's gravitational conditions. However, microgravity alters human motion, interactions…
FlowCorrect: Efficient Interactive Correction of Generative Flow Policies for Robotic Manipulation
Edgar Welte, Yitian Shi, Rosa Wolf +2
Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet many failures are near-misses: the robot reaches almost-correct poses and w…
Tracing Back Error Sources to Explain and Mitigate Pose Estimation Failures
Loris Schneider, Yitian Shi, Rosa Wolf +3
Robust estimation of object poses in robotic manipulation is often addressed using foundational general estimators, that aim to handle diverse error sources naively within a single…
HOGraspFlow: Taxonomy-Aware Hand-Object Retargeting for Multi-Modal SE(3) Grasp Generation
Yitian Shi, Zicheng Guo, Rosa Wolf +2
We propose Hand-Object\emph{(HO)GraspFlow}, an affordance-centric approach that retargets a single RGB with hand-object interaction (HOI) into multi-modal executable parallel jaw g…