HOI

[ICRA23] GenDexGrasp: Generalizable Dexterous Grasping

Generating dexterous grasping has been a long-standing and challenging robotic task. Despite recent progress, existing methods …

Puhao Li, Tengyu Liu, Yuyang Li, Yiran Geng, Yixin Zhu, Yangdong Yang, Siyuan Huang

Visually Grounded Reasoning

[Vision meets Cognition] Topics include affordance, container, functionality, hoi, intent, scene parsing, scene reconstruction, and …

Nan Jiang, Jieming Cui

Aug 1, 2022

Visually Grounded Reasoning

[RA-L/IROS22] Understanding Physical Effects for Effective Tool-use

We present a robot learning and planning framework that produces an effective tool-use strategy with the least joint efforts, capable …

Zeyu Zhang, Ziyuan Jiao, Weiqi Wang, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

[RA-L/IROS22] Understanding Physical Effects for Effective Tool-use

[RA-L21] Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimator

Existing grasp synthesis methods are either analytical or data-driven. The former one is oftentimes limited to specific application …

Tengyu Liu, Zeyu Liu, Ziyuan Jiao, Yixin Zhu, Song-Chun Zhu

[RA-L21] Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimator

[ICCV19] Holistic++ Scene Understanding: Single-view 3D Holistic Scene Parsing and Human Pose Estimation with Human-Object Interaction and Physical Commonsense

We propose a new 3D holistic++ scene understanding problem, which jointly tackles two tasks from a single-view image: (i) holistic …

Yixin Chen, Siyuan Huang, Tao Yuan, Yixin Zhu, Siyuan Qi, Song-Chun Zhu

[ICCV19] Holistic++ Scene Understanding: Single-view 3D Holistic Scene Parsing and Human Pose Estimation with Human-Object Interaction and Physical Commonsense

[IROS19] Learning Virtual Grasp with Failed Demonstrations via Bayesian Inverse Reinforcement Learning

We propose Bayesian Inverse Reinforcement Learning with Failure (BIRLF), which makes use of failed demonstrations that were often …

Xu Xie, Changyang Li, Chi Zhang, Yixin Zhu, Song-Chun Zhu

[IROS19] Learning Virtual Grasp with Failed Demonstrations via Bayesian Inverse Reinforcement Learning

[TURC19] VRGym: A Virtual Testbed for Physical and Interactive AI

We propose VRGym, a virtual reality testbed for realistic human-robot interaction. Different from existing toolkits and virtual reality …

Xu Xie, Hangxin Liu, Zhenliang Zhang, Yuxing Qiu, Feng Gao, Siyuan Qi, Yixin Zhu, Song-Chun Zhu

[TURC19] VRGym: A Virtual Testbed for Physical and Interactive AI

[ECCV18] Holistic 3D Scene Parsing and Reconstruction from a Single RGB Image

We propose a computational framework to jointly parse a single RGB image and reconstruct a holistic 3D configuration composed by a set …

Siyuan Huang, Siyuan Qi, Yixin Zhu, Yinxue Xiao, Yuanlu Xu, Song-Chun Zhu

[ECCV18] Holistic 3D Scene Parsing and Reconstruction from a Single RGB Image