ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation
Humans intuitively understand that inanimate objects do not move by themselves, but that state changes are typically caused by human manipulation (e.g., the opening of a book). This is not yet the case for machines. In part this is because there exist no datasets with ground-truth 3D annotations for...
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IEEE Computer Society
2023
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Online Access: | https://dare.uva.nl/personal/pure/en/publications/arctic-a-dataset-for-dexterous-bimanual-handobject-manipulation(8fc92adf-12ca-479e-af6a-99468eb60b0b).html https://doi.org/10.48550/arXiv.2204.13662 https://hdl.handle.net/11245.1/8fc92adf-12ca-479e-af6a-99468eb60b0b https://pure.uva.nl/ws/files/141827700/2204.13662.pdf https://arctic.is.tue.mpg.de https://www.proceedings.com/70184.html https://openaccess.thecvf.com/content/CVPR2023/html/Fan_ARCTIC_A_Dataset_for_Dexterous_Bimanual_Hand-Object_Manipulation_CVPR_2023_paper.html |
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ftunivamstpubl:oai:dare.uva.nl:openaire_cris_publications/8fc92adf-12ca-479e-af6a-99468eb60b0b 2024-09-30T14:27:54+00:00 ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation Fan, Z. Taheri, O. Tzionas, D. Kocabas, M. Kaufmann, M. Black, M.J. Hilliges, O. 2023 application/pdf https://dare.uva.nl/personal/pure/en/publications/arctic-a-dataset-for-dexterous-bimanual-handobject-manipulation(8fc92adf-12ca-479e-af6a-99468eb60b0b).html https://doi.org/10.48550/arXiv.2204.13662 https://hdl.handle.net/11245.1/8fc92adf-12ca-479e-af6a-99468eb60b0b https://pure.uva.nl/ws/files/141827700/2204.13662.pdf https://arctic.is.tue.mpg.de https://www.proceedings.com/70184.html https://openaccess.thecvf.com/content/CVPR2023/html/Fan_ARCTIC_A_Dataset_for_Dexterous_Bimanual_Hand-Object_Manipulation_CVPR_2023_paper.html eng eng IEEE Computer Society https://dare.uva.nl/personal/pure/en/publications/arctic-a-dataset-for-dexterous-bimanual-handobject-manipulation(8fc92adf-12ca-479e-af6a-99468eb60b0b).html urn:ISBN:9798350301304 info:eu-repo/semantics/openAccess Fan , Z , Taheri , O , Tzionas , D , Kocabas , M , Kaufmann , M , Black , M J & Hilliges , O 2023 , ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation . in CVPR 2023 : proceedings: 2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition : Vancouver, Canada : 18-22 June 2023 . IEEE Computer Society , Los Alamitos, California , pp. 12943-12954 , IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR) 2023 , Vancouver , Canada , 18/06/23 . https://doi.org/10.48550/arXiv.2204.13662 , https://doi.org/10.1109/CVPR52729.2023.01244 contributionToPeriodical 2023 ftunivamstpubl https://doi.org/10.48550/arXiv.2204.13662 2024-09-12T16:38:42Z Humans intuitively understand that inanimate objects do not move by themselves, but that state changes are typically caused by human manipulation (e.g., the opening of a book). This is not yet the case for machines. In part this is because there exist no datasets with ground-truth 3D annotations for the study of physically consistent and synchronised motion of hands and articulated objects. To this end, we introduce ARCTIC -- a dataset of two hands that dexterously manipulate objects, containing 2.1M video frames paired with accurate 3D hand and object meshes and detailed, dynamic contact information. It contains bi-manual articulation of objects such as scissors or laptops, where hand poses and object states evolve jointly in time. We propose two novel articulated hand-object interaction tasks: (1) Consistent motion reconstruction: Given a monocular video, the goal is to reconstruct two hands and articulated objects in 3D, so that their motions are spatio-temporally consistent. (2) Interaction field estimation: Dense relative hand-object distances must be estimated from images. We introduce two baselines ArcticNet and InterField, respectively and evaluate them qualitatively and quantitatively on ARCTIC. Article in Journal/Newspaper Arctic Arctic ArcticNet Universiteit van Amsterdam: Digital Academic Repository (UvA DARE) Arctic |
institution |
Open Polar |
collection |
Universiteit van Amsterdam: Digital Academic Repository (UvA DARE) |
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ftunivamstpubl |
language |
English |
description |
Humans intuitively understand that inanimate objects do not move by themselves, but that state changes are typically caused by human manipulation (e.g., the opening of a book). This is not yet the case for machines. In part this is because there exist no datasets with ground-truth 3D annotations for the study of physically consistent and synchronised motion of hands and articulated objects. To this end, we introduce ARCTIC -- a dataset of two hands that dexterously manipulate objects, containing 2.1M video frames paired with accurate 3D hand and object meshes and detailed, dynamic contact information. It contains bi-manual articulation of objects such as scissors or laptops, where hand poses and object states evolve jointly in time. We propose two novel articulated hand-object interaction tasks: (1) Consistent motion reconstruction: Given a monocular video, the goal is to reconstruct two hands and articulated objects in 3D, so that their motions are spatio-temporally consistent. (2) Interaction field estimation: Dense relative hand-object distances must be estimated from images. We introduce two baselines ArcticNet and InterField, respectively and evaluate them qualitatively and quantitatively on ARCTIC. |
format |
Article in Journal/Newspaper |
author |
Fan, Z. Taheri, O. Tzionas, D. Kocabas, M. Kaufmann, M. Black, M.J. Hilliges, O. |
spellingShingle |
Fan, Z. Taheri, O. Tzionas, D. Kocabas, M. Kaufmann, M. Black, M.J. Hilliges, O. ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation |
author_facet |
Fan, Z. Taheri, O. Tzionas, D. Kocabas, M. Kaufmann, M. Black, M.J. Hilliges, O. |
author_sort |
Fan, Z. |
title |
ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation |
title_short |
ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation |
title_full |
ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation |
title_fullStr |
ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation |
title_full_unstemmed |
ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation |
title_sort |
arctic: a dataset for dexterous bimanual hand-object manipulation |
publisher |
IEEE Computer Society |
publishDate |
2023 |
url |
https://dare.uva.nl/personal/pure/en/publications/arctic-a-dataset-for-dexterous-bimanual-handobject-manipulation(8fc92adf-12ca-479e-af6a-99468eb60b0b).html https://doi.org/10.48550/arXiv.2204.13662 https://hdl.handle.net/11245.1/8fc92adf-12ca-479e-af6a-99468eb60b0b https://pure.uva.nl/ws/files/141827700/2204.13662.pdf https://arctic.is.tue.mpg.de https://www.proceedings.com/70184.html https://openaccess.thecvf.com/content/CVPR2023/html/Fan_ARCTIC_A_Dataset_for_Dexterous_Bimanual_Hand-Object_Manipulation_CVPR_2023_paper.html |
geographic |
Arctic |
geographic_facet |
Arctic |
genre |
Arctic Arctic ArcticNet |
genre_facet |
Arctic Arctic ArcticNet |
op_source |
Fan , Z , Taheri , O , Tzionas , D , Kocabas , M , Kaufmann , M , Black , M J & Hilliges , O 2023 , ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation . in CVPR 2023 : proceedings: 2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition : Vancouver, Canada : 18-22 June 2023 . IEEE Computer Society , Los Alamitos, California , pp. 12943-12954 , IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR) 2023 , Vancouver , Canada , 18/06/23 . https://doi.org/10.48550/arXiv.2204.13662 , https://doi.org/10.1109/CVPR52729.2023.01244 |
op_relation |
https://dare.uva.nl/personal/pure/en/publications/arctic-a-dataset-for-dexterous-bimanual-handobject-manipulation(8fc92adf-12ca-479e-af6a-99468eb60b0b).html urn:ISBN:9798350301304 |
op_rights |
info:eu-repo/semantics/openAccess |
op_doi |
https://doi.org/10.48550/arXiv.2204.13662 |
_version_ |
1811633861974556672 |