Learn to Predict How Humans Manipulate Large-sized Objects from Interactive Motions

no code implementations • 25 Jun 2022 • Weilin Wan, Lei Yang, Lingjie Liu, Zhuoying Zhang, Ruixing Jia, Yi-King Choi, Jia Pan, Christian Theobalt, Taku Komura, Wenping Wang

We also observe that an object's intrinsic physical properties are useful for the object motion prediction, and thus design a set of object dynamic descriptors to encode such intrinsic properties.

Human-Object Interaction Detection motion prediction +1

Visual-Tactile Sensing for Real-time Liquid Volume Estimation in Grasping

no code implementations • 23 Feb 2022 • Fan Zhu, Ruixing Jia, Lei Yang, Youcan Yan, Zheng Wang, Jia Pan, Wenping Wang

We propose a deep visuo-tactile model for realtime estimation of the liquid inside a deformable container in a proprioceptive way. We fuse two sensory modalities, i. e., the raw visual inputs from the RGB camera and the tactile cues from our specific tactile sensor without any extra sensor calibrations. The robotic system is well controlled and adjusted based on the estimation model in real time.

Multi-Task Learning