Feedback RoI Features Improve Aerial Object Detection

no code implementations • 28 Nov 2023 • Botao Ren, Botian Xu, Tengyu Liu, Jingyi Wang, Zhidong Deng

Neuroscience studies have shown that the human visual system utilizes high-level feedback information to guide lower-level perception, enabling adaptation to signals of different characteristics.

feature selection object-detection +1

Grasp Multiple Objects with One Hand

no code implementations • 24 Oct 2023 • Yuyang Li, Bo Liu, Yiran Geng, Puhao Li, Yaodong Yang, Yixin Zhu, Tengyu Liu, Siyuan Huang

The human hand's complex kinematics allow for simultaneous grasping and manipulation of multiple objects, essential for tasks like object transfer and in-hand manipulation.

UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy

no code implementations • CVPR 2023 • Yinzhen Xu, Weikang Wan, Jialiang Zhang, Haoran Liu, Zikang Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi Chen, Tengyu Liu, Li Yi, He Wang

Trained on our synthesized large-scale dexterous grasp dataset, this model enables us to sample diverse and high-quality dexterous grasp poses for the object point cloud. For the second stage, we propose to replace the motion planning used in parallel gripper grasping with a goal-conditioned grasp policy, due to the complexity involved in dexterous grasping execution.

Motion Planning

Diffusion-based Generation, Optimization, and Planning in 3D Scenes

2 code implementations • CVPR 2023 • Siyuan Huang, Zan Wang, Puhao Li, Baoxiong Jia, Tengyu Liu, Yixin Zhu, Wei Liang, Song-Chun Zhu

SceneDiffuser provides a unified model for solving scene-conditioned generation, optimization, and planning.

Denoising Grasp Generation +2

Full-Body Articulated Human-Object Interaction

1 code implementation • ICCV 2023 • Nan Jiang, Tengyu Liu, Zhexuan Cao, Jieming Cui, Zhiyuan Zhang, Yixin Chen, He Wang, Yixin Zhu, Siyuan Huang

By learning the geometrical relationships in HOI, we devise the very first model that leverage human pose estimation to tackle the estimation of articulated object poses and shapes during whole-body interactions.

Action Recognition Human-Object Interaction Detection +2

HUMANISE: Language-conditioned Human Motion Generation in 3D Scenes

no code implementations • 18 Oct 2022 • Zan Wang, Yixin Chen, Tengyu Liu, Yixin Zhu, Wei Liang, Siyuan Huang

Learning to generate diverse scene-aware and goal-oriented human motions in 3D scenes remains challenging due to the mediocre characteristics of the existing datasets on Human-Scene Interaction (HSI); they only have limited scale/quality and lack semantics.

DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation

no code implementations • 6 Oct 2022 • Ruicheng Wang, Jialiang Zhang, Jiayi Chen, Yinzhen Xu, Puhao Li, Tengyu Liu, He Wang

Robotic dexterous grasping is the first step to enable human-like dexterous object manipulation and thus a crucial robotic technology.

GenDexGrasp: Generalizable Dexterous Grasping

1 code implementation • 3 Oct 2022 • Puhao Li, Tengyu Liu, Yuyang Li, Yiran Geng, Yixin Zhu, Yaodong Yang, Siyuan Huang

By leveraging the contact map as a hand-agnostic intermediate representation, GenDexGrasp efficiently generates diverse and plausible grasping poses with a high success rate and can transfer among diverse multi-fingered robotic hands.