Fine-grained hand interaction with Inertial Measurement Unit (IMU) and machine learning offers a low-cost and effective solution. However, the robustness and generalizability of machine learning models are highly dataset-dependent. Existing datasets for interaction design are typically constructed through extensive real user data collection, which limits interaction diversity and personalization. To address these challenges, we propose Rob2HanD, a novel data-generation tool which utilizes large language models (LLMs) to regulate the motion processes of the robotic arm and rapidly constructs IMU datasets. Rob2HanD demonstrates the capability to generate large and usable IMU interaction datasets under few-shot or zero-shot conditions, thereby enhancing the potential for diverse and personalized fine-grained hand interactions. Using a real human dataset, we evaluate machine learning models trained on Rob2HanD-generated data and validate the usability of Rob2HanD. In real-world applications, models trained on Rob2HanD-generated datasets demonstrate strong performance across a variety of customized interaction tasks.

Transparent object perception is indispensable for numerous robotic tasks. However, accurately segmenting and estimating the depth of transparent objects remain challenging due to complex optical properties. Existing methods primarily delve into only one task using extra inputs or specialized sensors, neglecting the valuable interactions among tasks and the subsequent refinement process, leading to suboptimal and blurry predictions. To address these issues, we propose a monocular framework, which is the first to excel in both segmentation and depth estimation of transparent objects, with only a single-image input. Specifically, we devise a novel semantic and geometric fusion module, effectively integrating the multi-scale information between tasks. In addition, drawing inspiration from human perception of objects, we further incorporate an iterative strategy, which progressively refines initial features for clearer results. Experiments on two challenging synthetic and real-world datasets demonstrate that our model surpasses state-of-the-art monocular, stereo, and multi-view methods by a large margin of about 38.8%-46.2% with only a single RGB input. Codes and models are publicly available at https://github.com/L-J-Yuan/MODEST.