6 papers
TROPHIES: Temporal Reconstruction of Places, Humans, and Cameras from Multi-view Videos
Jinpeng Liu, Yukang Xu, Yutong Li +1
Reconstructing humans and their surrounding environments in a globally consistent 4D space is essential for comprehensive perception. However, prior works typically assume single-v…
Stereo-Inertial Poser: Towards Metric-Accurate Shape-Aware Motion Capture Using Sparse IMUs and a Single Stereo Camera
Tutian Tang, Xingyu Ji, Yutong Li +3
Recent advancements in visual-inertial motion capture systems have demonstrated the potential of combining monocular cameras with sparse inertial measurement units (IMUs) as cost-e…
FSGlove: An Inertial-Based Hand Tracking System with Shape-Aware Calibration
Yutong Li, Jieyi Zhang, Wenqiang Xu +2
Accurate hand motion capture (MoCap) is vital for applications in robotics, virtual reality, and biomechanics, yet existing systems face limitations in capturing high-degree-of-fre…
FBI: Learning Dexterous In-hand Manipulation with Dynamic Visuotactile Shortcut Policy
Yijin Chen, Wenqiang Xu, Zhenjun Yu +4
Dexterous in-hand manipulation is a long-standing challenge in robotics due to complex contact dynamics and partial observability. While humans synergize vision and touch for such…
Dynamic Reconstruction of Hand-Object Interaction with Distributed Force-aware Contact Representation
Zhenjun Yu, Wenqiang Xu, Pengfei Xie +4
We present ViTaM-D, a novel visual-tactile framework for reconstructing dynamic hand-object interaction with distributed tactile sensing to enhance contact modeling. Existing metho…
GarmentTracking: Category-Level Garment Pose Tracking
Han Xue, Wenqiang Xu, Jieyi Zhang +5
Garments are important to humans. A visual system that can estimate and track the complete garment pose can be useful for many downstream tasks and real-world applications. In this…