-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathindex.html
300 lines (277 loc) · 13.4 KB
/
index.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description"
content="Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation.">
<meta name="keywords" content="ArtiGrasp">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation</title>
</script>
<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
rel="stylesheet">
<link rel="stylesheet" href="./static/css/bulma.min.css">
<link rel="stylesheet" href="./static/css/bulma-carousel.min.css">
<link rel="stylesheet" href="./static/css/bulma-slider.min.css">
<link rel="stylesheet" href="./static/css/fontawesome.all.min.css">
<link rel="stylesheet"
href="https://cdn.jsdelivr.net/gh/jpswalsh/academicons@1/css/academicons.min.css">
<link rel="stylesheet" href="./static/css/index.css">
<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.5.1/jquery.min.js"></script>
<script defer src="./static/js/fontawesome.all.min.js"></script>
<script src="./static/js/bulma-carousel.min.js"></script>
<script src="./static/js/bulma-slider.min.js"></script>
<script src="./static/js/index.js"></script>
<!-- Global site tag (gtag.js) - Google Analytics -->
<script async src="https://www.googletagmanager.com/gtag/js?id=G-72PW1FZDE4"></script>
<script>
window.dataLayer = window.dataLayer || [];
function gtag(){dataLayer.push(arguments);}
gtag('js', new Date());
gtag('config', 'G-72PW1FZDE4');
</script>
</head>
<body>
<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href="https://zdchan.github.io/">Hui Zhang</a><sup>1,2*</sup>,</span>
<span class="author-block">
<a href="https://ait.ethz.ch/people/sammyc">Sammy Christen</a><sup>1*</sup>,</span>
<span class="author-block">
<a href="https://ait.ethz.ch/people/zfan">Zicong Fan</a><sup>1,2</sup>,</span>
</span>
<span class="author-block">
<a href="https://ait.ethz.ch">Luocheng Zheng</a><sup>1</sup>,</span>
</span>
<br>
<span class="author-block">
<a href="https://www.railab.kaist.ac.kr/sections/members">Jemin Hwangbo</a><sup>3</sup>,</span>
</span>
<span class="author-block">
<a href="https://ait.ethz.ch/people/song">Jie Song</a><sup>1</sup>,</span>
</span>
<span class="author-block">
<a href="https://ait.ethz.ch/people/hilliges">Otmar Hilliges</a><sup>1</sup>
</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>Department of Computer Science, ETH Zurich, Switzerland</span>
<br>
<span class="author-block"><sup>2</sup>Max Planck Institute for Intelligent Systems, Tübingen, Germany</span>
<br>
<span class="author-block"><sup>3</sup>Department of Mechanical Engineering, KAIST, Korea </span>
</div>
<div class="is-size-5">
*Equal Contribution
</div>
<div class="is-size-5">
<span class="author-block"> <b>Accepted by 3DV 2024 as Spotlight Presentation</b></span>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="https://arxiv.org/pdf/2309.03891.pdf"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<!-- Video Link. -->
<span class="link-block">
<a href="https://youtu.be/L9KJ57y2ThI"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-youtube"></i>
</span>
<span>Video</span>
</a>
</span>
<!-- <!– Medium Link. –>-->
<!-- <span class="link-block">-->
<!-- <a href="https://eth-ait.medium.com/animate-implicit-shapes-with-forward-skinning-c7ebbf355694"-->
<!-- class="external-link button is-normal is-rounded is-dark">-->
<!-- <span class="icon">-->
<!-- <i class="fab fa-medium-m"></i>-->
<!-- </span>-->
<!-- <span>Medium</span>-->
<!-- </a>-->
<!-- </span>-->
<!-- <!– Blog Link. –>-->
<!-- <span class="link-block">-->
<!-- <a href="https://autonomousvision.github.io/snarf/"-->
<!-- class="external-link button is-normal is-rounded is-dark">-->
<!-- <span class="icon">-->
<!-- <i class="fab fa-blogger-b"></i>-->
<!-- </span>-->
<!-- <span>Blog</span>-->
<!-- </a>-->
<!-- </span>-->
<!-- Code Link. -->
<span class="link-block">
<a href="https://github.com/zdchan/artigrasp"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span>
<!-- </div>-->
</div>
</div>
</div>
</div>
</section>
<!--<section class="hero teaser">-->
<!-- <!–/ Paper video. –>-->
<!--</section>-->
<section class="section_video">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Video</h2>
<div class="publication-video">
<video id="teaser" controls height="100%">
<source src="https://files.ait.ethz.ch/projects/artigrasp/artigrasp_video.mp4"
type="video/mp4">
<!-- <source src="https://drive.google.com/file/d/1HXg8o0jKrpw9bgqRx2dmX7TU1NboT5OM/view?usp=sharing"
type="video/mp4"> -->
</video>
</div>
<h2 class="subtitle has-text-centered">
ArtiGrasp is a method to synthesize physically plausible bi-manual manipulation. It can generate motion sequences
such as grasping and relocating an object with one or two hands, and opening it to a target articulation angle.
</h2>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
We present ArtiGrasp, a novel method to synthesize bi-manual hand-object interactions that include grasping and articulation. This task is challenging due to the diversity of the global wrist motions and the precise finger control that are necessary to articulate objects. ArtiGrasp leverages reinforcement learning and physics simulations to train a policy that controls the global and local hand pose. Our framework unifies grasping and articulation within a single policy guided by a single hand pose reference. Moreover, to facilitate the training of the precise finger control required for articulation, we present a learning curriculum with increasing difficulty. It starts with single-hand manipulation of stationary objects and continues with multi-agent training including both hands and non-stationary objects. To evaluate our method, we introduce Dynamic Object Grasping and Articulation, a task that involves bringing an object into a target articulated pose. This task requires grasping, relocation, and articulation. We show our method's efficacy towards this task. We further demonstrate that our method can generate motions with noisy hand-object pose estimates from an off-the-shelf image-based regressor.
</p>
</div>
</div>
</div>
<!--/ Abstract. -->
<!-- <!– Paper video. –>-->
<!-- <div class="columns is-centered has-text-centered">-->
<!-- <div class="column is-four-fifths">-->
<!-- <h2 class="title is-3">Video</h2>-->
<!-- <div class="publication-video">-->
<!-- <iframe width="560" height="315" src="https://www.youtube.com/embed/Q99t36qGZUU" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>-->
<!-- </div>-->
<!-- </div>-->
<!-- </div>-->
<!-- <!–/ Paper video. –>-->
</div>
</section>
<!-- <section class="hero is-light is-small">
<h2 class="title is-3 has-text-centered">D-Grasp Results</h2>
<div class="hero-body">
<div class="container">
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop height="100%">
<source src="https://files.ait.ethz.ch/projects/d-grasp/drill.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop height="100%">
<source src="https://files.ait.ethz.ch/projects/d-grasp/pitcher.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop height="100%">
<source src="https://files.ait.ethz.ch/projects/d-grasp/sugarbox.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop height="100%">
<source src="https://files.ait.ethz.ch/projects/d-grasp/banana.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop height="100%">
<source src="https://files.ait.ethz.ch/projects/d-grasp/bleach.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop height="100%">
<source src="https://files.ait.ethz.ch/projects/d-grasp/mug_03.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop height="100%">
<source src="https://files.ait.ethz.ch/projects/d-grasp/can.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
<h2 class="subtitle has-text-centered">
(Best viewed in Google Chrome)
</h2>
</div>
</section> -->
<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title">BibTeX</h2>
<pre><code>@inProceedings{zhang2024artigrasp,
title={{ArtiGrasp}: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation},
author={Zhang, Hui and Christen, Sammy and Fan, Zicong and Zheng, Luocheng and Hwangbo, Jemin and Song, Jie and Hilliges, Otmar},
booktitle={International Conference on 3D Vision (3DV)},
year={2024}
}</code></pre>
</div>
</section>
<!--<footer class="footer">-->
<!-- <div class="container">-->
<!-- <div class="content has-text-centered">-->
<!-- <a class="icon-link"-->
<!-- href="https://arxiv.org/pdf/2104.03953.pdf">-->
<!-- <i class="fas fa-file-pdf"></i>-->
<!-- </a>-->
<!-- <a class="icon-link" href="https://github.com/keunhong" class="external-link" disabled>-->
<!-- <i class="fab fa-github"></i>-->
<!-- </a>-->
<!-- </div>-->
<!-- <div class="columns is-centered">-->
<!-- <div class="column is-8">-->
<!-- <div class="content">-->
<!-- <p>-->
<!-- This website is licensed under a <a rel="license"-->
<!-- href="http://creativecommons.org/licenses/by-sa/4.0/">Creative-->
<!-- Commons Attribution-ShareAlike 4.0 International License</a>.-->
<!-- </p>-->
<!-- <p>-->
<!-- This webpage is built with the template from <a href="https://github.com/nerfies/nerfies.github.io">NeRFies</a>. We sincerely thank <a href="https://keunhong.com/">Keunhong Park</a> for developing and open-sourcing this template.-->
<!-- </p>-->
<!-- </div>-->
<!-- </div>-->
<!-- </div>-->
<!-- </div>-->
<!--</footer>-->
</body>
</html>