23 accepted papers
Co-speech gesture generation has significantly advanced human-computer interaction, yet speaker movements remain constrained due to the omission of text-driven non-spontaneous gestures (e.g., bowing while talking). Existing methods face two key challenges: 1) the semantic prior gap due to the lack o
The performance of egocentric AI agents is fundamentally limited by multimodal intent ambiguity. This challenge arises from a combination of underspecified language, imperfect visual data, and deictic gestures, which frequently leads to task failure. Existing monolithic Vision-Language Models (VLMs)
Vector quantization (VQ) transforms continuous image features into discrete representations, providing compressed, tokenized inputs for generative models. However, VQ-based frameworks suffer from several issues, such as non-smooth latent spaces, weak alignment between representations before and aft
Robotic hand tool use has garnered significant attention from robotics researchers, because it enhances dexterity beyond the limitations imposed by manipulators with fixed tool configurations and human-involved manual tool changes. Despite extensive research, current methodologies predominantly focu
Consistency learning with feature perturbation is a widely used strategy in semi-supervised medical image segmentation. However, many existing perturbation methods rely on dropout, and thus require a careful manual tuning of the dropout rate, which is a sensitive hyperparameter and often difficult t…
Anthropomorphic robotic arms, mimicking the structure and function of human arms, show great potential for helping people in various tedious and repetitive household tasks. However, such arms mostly consist of multiple serial links controlled independently by actuators at joints with high reduction…
This study aims to improve the generation of 3D gestures by utilizing multimodal information from human speech. Previous studies have focused on incorporating additional modalities to enhance the quality of generated gestures. However, these methods perform poorly when certain modalities are missing…
Co-speech gestures if presented in the lively form of videos can achieve superior visual effects in human-machine interaction. While previous works mostly generate structural human skeletons resulting in the omission of appearance information we focus on the direct generation of audio-driven co-spee…
Audio-driven co-speech human gesture generation has made remarkable advancements recently. However, most previous works only focus on single person audio-driven gesture generation. We aim at solving the problem of conversational co-speech gesture generation that considers multiple participants in a…
Current talking avatars mostly generate co-speech gestures based on audio and text of the utterance, without considering the non-speaking motion of the speaker. Furthermore, previous works on co-speech gesture generation have designed network structures based on individual gesture datasets, which re…
Gesture synthesis is a vital realm of human-computer interaction, with wide-ranging applications across various fields like film, robotics, and virtual reality. Recent advancements have utilized the diffusion model to improve gesture synthesis. However, the high computational complexity of these t…
Objects of daily life are designed to suit the human hand. Without major modifications to these objects and our environments, robots will need end-effectors with human hand-like configuration and dexterity to efficiently operate on them. Tight integration of tactile and proprioceptive sensors are al…
Robots and prostheses are increasingly designed with curvilinear surfaces for functional, aesthetic, aerodynamic, and safety reasons. Electronic skins (e-skins) capable of sensing contact location and pressure across complex, non-developable surfaces are essential for empowering next-generation robo…
This paper addresses the scarcity of large-scale datasets for accurate object-in-hand pose estimation, which is crucial for robotic in-hand manipulation within the "Perception-Planning-Control" paradigm. Specifically, we introduce VinT-6D, the first extensive multi-modal dataset integrating vision,…
This paper proposes a novel efficient multi-phase trajectory generation algorithm for dynamic dexterous manipulation tasks, such as throwing, catching, dynamic regrasping, and dynamic handover, which can be decomposed into multiple manipulation primitives, including sticking, rolling, approaching, s…
The art of communication beyond speech there are gestures. The automatic co-speech gesture generation draws much attention in computer animation. It is a challenging task due to the diversity of gestures and the difficulty of matching the rhythm and semantics of the gesture to the corresponding spee…
Music-driven 3D dance generation has become an intensive research topic in recent years with great potential for real-world applications. Most existing methods lack the consideration of genre, which results in genre inconsistency in the generated dance movements. In addition, the correlation between…
Speech-driven gesture generation is highly challenging due to the random jitters of human motion. In addition, there is an inherent asynchronous relationship between human speech and gestures. To tackle these challenges, we introduce a novel quantization-based and phase-guided motion matching framew…
Audio-driven talking face with portrait customization enhances the flexibility of avatar applications for different scenarios, such as on-line meetings, mixed reality, and data generation. Among the existing methods, audio-driven talking face and face swapping are typically viewed as separate tasks…
Dynamic models play a key role in robot motion generation and control and the identification of inertial parameters is a critical component for obtaining an accurate dynamic model of a robot. This paper presents a novel iterative primitive shape division method for the inertia parameter identificati…
In this paper, the gain scheduling technique is applied to design a balance controller for an autonomous bicycle with an inertia wheel. Previously, two different balance controllers are needed depending on whether the bicycle is stationary or dynamic. The switch between the two different controllers…
In this paper, nonlinear control techniques are exploited to balance an unmanned bicycle with enlarged stability domain. We consider two cases. For the first case when the autonomous bicycle is balanced by the flywheel, the steering angle is set to zero, and the torque of the flywheel is used as the…
Doffing robot is an important part of the spinning process in the textile production. This paper analyzes the doffing process of spinning machines and points out the requirements of the structure and functions of the doffer. The locking two-finger gripper, the three-dimensional circulating operation…