Related papers: Realistic Haptic Rendering of Interacting Deformab…
Haptic feedback has become crucial to enhance the user experiences in Virtual Reality (VR). This justifies the sudden burst of novel haptic solutions proposed these past years in the HCI community. This article is a survey of Virtual…
Tactile sensing plays an important role in robotic perception and manipulation. To overcome the real-world limitations of data collection, simulating tactile response in virtual environment comes as a desire direction of robotic research.…
Recent progress of video diffusion models have enabled extensive simulation of the physical world. While simulation with hand object interaction has been less explored. We propose DexSIM, a dexterous simulation framework for simulating…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
Spatial tactile feedback can enhance the realism of geometry exploration in virtual reality applications. Current vibrotactile approaches often face challenges with the spatial and temporal resolution needed to render different 3D…
Differentiable physics is a powerful tool in computer vision and robotics for scene understanding and reasoning about interactions. Existing approaches have frequently been limited to objects with simple shape or shapes that are known in…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Accurately digitizing physical objects is central to many applications, including virtual/augmented reality, industrial design, and e-commerce. Prior research has demonstrated efficient and faithful reconstruction of objects' geometric…
Pseudo-haptic techniques are becoming increasingly popular in human-computer interaction. They replicate haptic sensations by leveraging primarily visual feedback rather than mechanical actuators. These techniques bridge the gap between the…
Handling object deformations for robotic grasping is still a major problem to solve. In this paper, we propose an efficient learning-free solution for this problem where generated grasp hypotheses of a region of an object are adapted to its…
Hand manipulating objects is an important interaction motion in our daily activities. We faithfully reconstruct this motion with a single RGBD camera by a novel deep reinforcement learning method to leverage physics. Firstly, we propose…
We construct the first markerless deformable interaction dataset recording interactive motions of the hands and deformable objects, called HMDO (Hand Manipulation with Deformable Objects). With our built multi-view capture system, it…
This paper proposes a real-time physically-based method for simulating vehicle deformation. Our system synthesizes vehicle deformation characteristics by considering a low-dimensional coupled vehicle body technique. We simulate the motion…
Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…
Robotic manipulation of volumetric elastoplastic deformable materials, from foods such as dough to construction materials like clay, is in its infancy, largely due to the difficulty of modelling and perception in a high-dimensional space.…
Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck for deformable object manipulation. The continuously…
For Minimally Invasive Surgical (MIS) robots, accurate haptic interaction force feedback is essential for ensuring the safety of interacting with soft tissue. However, most existing MIS robotic systems cannot facilitate direct measurement…
Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) based methods aim at improving sample…
Today there is a high variety of haptic devices capable of providing tactile feedback. Although most of existing designs are aimed at realistic simulation of the surface properties, their capabilities are limited in attempts of displaying…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…