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We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose.
Imitation learning of whole-body grasps
Kaijen Hsiao and Tomas Lozano-Perez · 2006
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Synthesis of detailed hand manipulations using contact sampling
Yuting Ye and C Karen Liu · 2012
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The ycb object and model set: Towards common benchmarks for manipulation research
Berk Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M Dollar · 2015
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Adam: A method for stochastic optimization
Diederik P. Kingma and Jimmy Ba · 2015
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Embodied hands: Modeling and capturing hands and bodies together
Javier Romero, Dimitrios Tzionas, and Michael J. Black · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Per-contact iteration method for solving contact dynamics
Jemin Hwangbo, Joonho Lee, and Marco Hutter · 2018
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Learning dexterous in-hand manipulation
OpenAI, Marcin Andrychowicz, Bowen Baker, Maciek Chociej, Rafal Józefowicz, Bob McGrew, Jakub W. Pachocki, Jakub Pachocki, Arthur Petron, Matthias Plappert, Glenn Powell, Alex Ray, Jonas Schneider, Szymon Sidor, Josh Tobin, Peter Welinder, Lilian Weng, and Wojciech Zaremba · 2018
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Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
Aravind Rajeswaran*, Vikash Kumar*, Abhishek Gupta, Giulia Vezzani, John Schulman, Emanuel Todorov, and Sergey Levine · 2018
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Contactdb: Analyzing and predicting grasp contact via thermal imaging
Samarth Brahmbhatt, Cusuh Ham, Charles C Kemp, and James Hays · 2019
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Guided deep reinforcement learning of control policies for dexterous human-robot interaction
Sammy Christen, Stefan Stevšić, and Otmar Hilliges · 2019
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Learning joint reconstruction of hands and manipulated objects
Yana Hasson, Gul Varol, Dimitrios Tzionas, Igor Kalevatykh, Michael J Black, Ivan Laptev, and Cordelia Schmid · 2019
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H+ o: Unified egocentric recognition of 3d hand-object poses and interactions
Bugra Tekin, Federica Bogo, and Marc Pollefeys · 2019
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Contactpose: A dataset of grasps with object contact and hand pose
Samarth Brahmbhatt, Chengcheng Tang, Christopher D Twigg, Charles C Kemp, and James Hays · 2020
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Ganhand: Predicting human grasp affordances in multi-object scenes
Enric Corona, Albert Pumarola, Guillem Alenya, Francesc Moreno-Noguer, and Grégory Rogez · 2020
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Hope-net: A graph-based model for hand-object pose estimation
Bardia Doosti, Shujon Naha, Majid Mirbagheri, and David J Crandall · 2020
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Use the force, luke! learning to predict physical forces by simulating effects
Kiana Ehsani, Shubham Tulsiani, Saurabh Gupta, Ali Farhadi, and Abhinav Gupta · 2020
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Physics-based dexterous manipulations with estimated hand poses and residual reinforcement learning
Guillermo Garcia-Hernando, Edward Johns, and Tae-Kyun Kim · 2020
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Honnotate: A method for 3d annotation of hand and object poses
Shreyas Hampali, Mahdi Rad, Markus Oberweger, and Vincent Lepetit · 2020
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Leveraging photometric consistency over time for sparsely supervised hand-object reconstruction
Yana Hasson, Bugra Tekin, Federica Bogo, Ivan Laptev, Marc Pollefeys, and Cordelia Schmid · 2020
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Grasping field: Learning implicit representations for human grasps
Korrawe Karunratanakul, Jinlong Yang, Yan Zhang, Michael J Black, Krikamol Muandet, and Siyu Tang · 2020
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Dash: Modularized human manipulation simulation with vision and language for embodied ai
Yifeng Jiang, Michelle Guo, Jiangshan Li, Ioannis Exarchos, Jiajun Wu, and C Karen Liu · 2021
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A skeleton-driven neural occupancy representation for articulated hands
Korrawe Karunratanakul, Adrian Spurr, Zicong Fan, Otmar Hilliges, and Siyu Tang · 2021
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H2o: Two hands manipulating objects for first person interaction recognition
Taein Kwon, Bugra Tekin, Jan Stühmer, Federica Bogo, and Marc Pollefeys · 2021
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ArtiBoost: Boosting articulated 3d hand-object pose estimation via online exploration and synthesis
Kailin Li, Lixin Yang, Xinyu Zhan, Jun Lv, Wenqiang Xu, Jiefeng Li, and Cewu Lu · 2021
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Semi-supervised 3d hand-object poses estimation with interactions in time
Shaowei Liu, Hanwen Jiang, Jiarui Xu, Sifei Liu, and Xiaolong Wang · 2021
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Contact and human dynamics from monocular video
Davis Rempe, Leonidas J. Guibas, Aaron Hertzmann, Bryan Russell, Ruben Villegas, and Jimei Yang · 2020
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Physcap: Physically plausible monocular 3d motion capture in real time
Soshi Shimada, Vladislav Golyanik, Weipeng Xu, and Christian Theobalt · 2020
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Weakly supervised 3d hand pose estimation via biomechanical constraints
Adrian Spurr, Umar Iqbal, Pavlo Molchanov, Otmar Hilliges, and Jan Kautz · 2020
Cited alongside, same era.
GRAB: A dataset of whole-body human grasping of objects
Omid Taheri, Nima Ghorbani, Michael J. Black, and Dimitrios Tzionas · 2020
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Reconstructing hand-object interactions in the wild
Zhe Cao, Ilija Radosavovic, Angjoo Kanazawa, and Jitendra Malik · 2021
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DexYCB: A benchmark for capturing hand grasping of objects
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S. Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, and Dieter Fox · 2021
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A simple method for complex in-hand manipulation
Tao Chen, Jie Xu, and Pulkit Agrawal · 2021
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Dynamics-regulated kinematic policy for egocentric pose estimation
Zhengyi Luo, Ryo Hachiuma, Ye Yuan, and Kris Kitani · 2021
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Dexvip: Learning dexterous grasping with human hand pose priors from video
Priyanka Mandikal and Kristen Grauman · 2021
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Learning dexterous grasping with object-centric visual affordances
Priyanka Mandikal and Kristen Grauman · 2021
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Physically-aware generative network for 3d shape modeling
Mariem Mezghanni, Malika Boulkenafed, Andre Lieutier, and Maks Ovsjanikov · 2021
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Dexmv: Imitation learning for dexterous manipulation from human videos
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Neural monocular 3d human motion capture with physical awareness
Soshi Shimada, Vladislav Golyanik, Weipeng Xu, Patrick Pérez, and Christian Theobalt · 2021
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Cpf: Learning a contact potential field to model the hand-object interaction
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Simpoe: Simulated character control for 3d human pose estimation
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Manipnet: Neural manipulation synthesis with a hand-object spatial representation
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Toward human-like grasp: Dexterous grasping via semantic representation of object-hand
Tianqiang Zhu, Rina Wu, Xiangbo Lin, and Yi Sun · 2021
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