2 citations · 2 across the 12 of their papers we have counts for
17 papers
DefFlow: Goal-Conditioned Deformable Object Manipulation using 3D Point Flows
Gaurav Singh, Sergio Orozco, Ryan Duong +3
Manipulating deformable objects toward desired 3D configurations is a fundamental capability for robots operating in unstructured physical environments. However, as the range of po…
BRACE: Adapting Whole-Body References for Force and Terrain Aware Humanoid Motion Tracking
Sudarshan Harithas, Chen Yu, Juan Borbon +5
Whole-body tracking has become the interface through which operators drive humanoid robots, yet the references it consumes are recorded on level ground and carrying nothing, so the…
Deform360: A Massive Multi-view Visuotactile Dataset for Deformable World Models
Hongyu Li, Wanjia Fu, Xiaoyan Cong +11
Predicting object dynamics (i.e., world modeling) is a fundamental challenge for robotic manipulation, and modeling deformable objects presents a particularly difficult case due to…
DreamControl-v2: Simpler and Scalable Autonomous Humanoid Skills via Trainable Guided Diffusion Priors
Sudarshan Harithas, Sangkyung Kwak, Pushkal Katara +6
Developing robust autonomous loco-manipulation skills for humanoids remains an open problem in robotics. While RL has been applied successfully to legged locomotion, applying it to…
LLaMo: Scaling Pretrained Language Models for Unified Motion Understanding and Generation with Continuous Autoregressive Tokens
Zekun Li, Sizhe An, Chengcheng Tang +7
Recent progress in large models has led to significant advances in unified multimodal generation and understanding. However, the development of models that unify motion-language ge…
DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusion
Dvij Kalaria, Sudarshan S Harithas, Pushkal Katara +7
We introduce DreamControl, a novel methodology for learning autonomous whole-body humanoid skills. DreamControl leverages the strengths of diffusion models and Reinforcement Learni…
GenHSI: Controllable Generation of Human-Scene Interaction Videos
Zekun Li, Rui Zhou, Rahul Sajnani +3
Large-scale pre-trained video diffusion models have exhibited remarkable capabilities in diverse video generation. However, existing solutions face several challenges in generating…
DyTact: Capturing Dynamic Contacts in Hand-Object Manipulation
Xiaoyan Cong, Angela Xing, Chandradeep Pokhariya +2
Reconstructing dynamic hand-object contacts is essential for realistic manipulation in AI character animation, XR, and robotics, yet it remains challenging due to heavy occlusions,…
InteractAvatar: Modeling Hand-Face Interaction in Photorealistic Avatars with Deformable Gaussians
Kefan Chen, Sergiu Oprea, Justin Theiss +3
With the rising interest from the community in digital avatars coupled with the importance of expressions and gestures in communication, modeling natural avatar behavior remains an…
Art3D: Training-Free 3D Generation from Flat-Colored Illustration
Xiaoyan Cong, Jiayi Shen, Zekun Li +3
Large-scale pre-trained image-to-3D generative models have exhibited remarkable capabilities in diverse shape generations. However, most of them struggle to synthesize plausible 3D…
V-HOP: Visuo-Haptic 6D Object Pose Tracking
Hongyu Li, Mingxi Jia, Tuluhan Akbulut +3
Humans naturally integrate vision and haptics for robust object perception during manipulation. The loss of either modality significantly degrades performance. Inspired by this mul…
UVGS: Reimagining Unstructured 3D Gaussian Splatting using UV Mapping
Aashish Rai, Dilin Wang, Mihir Jain +4
3D Gaussian Splatting (3DGS) has demonstrated superior quality in modeling 3D objects and scenes. However, generating 3DGS remains challenging due to their discrete, unstructured,…
FoundHand: Large-Scale Domain-Specific Learning for Controllable Hand Image Generation
Kefan Chen, Chaerin Min, Linguang Zhang +3
Despite remarkable progress in image generation models, generating realistic hands remains a persistent challenge due to their complex articulation, varying viewpoints, and frequen…
Turbo-GS: Accelerating 3D Gaussian Fitting for High-Quality Radiance Fields
Ankit Dhiman, Tao Lu, R Srinath +5
Novel-view synthesis plays a crucial role in computer vision with applications in 3D reconstruction, mixed reality, and robotics. Recent approaches, such as 3D Gaussian Splatting (…
DA-VIL: Adaptive Dual-Arm Manipulation with Reinforcement Learning and Variable Impedance Control
Md Faizal Karim, Shreya Bollimuntha, Mohammed Saad Hashmi +6
Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for comp…
Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation
Gaurav Singh, Sanket Kalwar, Md Faizal Karim +4
Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents…
MANUS: Markerless Grasp Capture using Articulated 3D Gaussians
Chandradeep Pokhariya, Ishaan N Shah, Angela Xing +4
Understanding how we grasp objects with our hands has important applications in areas like robotics and mixed reality. However, this challenging problem requires accurate modeling…