6 papers
EmbodyHOI: Embodiment-Aware Generation of Hand-Object Interactions for Humanoid Dexterous Manipulation
Chaitanya Chawla, Kartik Sharma, Ananya Bal +2
Humanoid dexterous manipulation needs reference motions that are both semantically rich and kinematically feasible for the target robot. Text-conditioned hand-object interaction (H…
MAD-HOI: Masked Autoregressive Diffusion for Generating Articulated Hand Object Interactions from Text
Ananya Bal, Kartik Sharma, Ethan Lai +4
Methods for text-based generation of hand-object interaction (HOI) sequences primarily focus on producing smooth, physically plausible trajectories. A truly utilitarian method shou…
JointHOI: Jointly Generating Contact Maps Enhances Hand Object Interaction Generation
Mingyeong Song, Jungbin Cho, Jisoo Kim +5
Text driven hand object interaction (HOI) generation is gaining attention for immersive applications and robotics, yet producing physically plausible interactions remains challengi…
Pri4R: Learning World Dynamics for Vision-Language-Action Models with Privileged 4D Representation
Jisoo Kim, Jungbin Cho, Sanghyeok Chu +9
Humans learn not only how their bodies move, but also how the surrounding world responds to their actions. In contrast, while recent Vision-Language-Action (VLA) models exhibit imp…
UltrON: Ultrasound Occupancy Networks
Magdalena Wysocki, Felix Duelmer, Ananya Bal +2
In free-hand ultrasound imaging, sonographers rely on expertise to mentally integrate partial 2D views into 3D anatomical shapes. Shape reconstruction can assist clinicians in this…
Unsupervised Deformable Ultrasound Image Registration and Its Application for Vessel Segmentation
FNU Abhimanyu, Andrew L. Orekhov, Ananya Bal +2
This paper presents a deep-learning model for deformable registration of ultrasound images at online rates, which we call U-RAFT. As its name suggests, U-RAFT is based on RAFT, a c…