Related papers: Excerpt from the book World of Movable Objects

In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can…

Programming is an integral part of computer science discipline. Every day the programming environment is not only rapidly growing but also changing and languages are constantly evolving. Learning of object-oriented paradigm is compulsory in…

Differentiable physics is a powerful approach to learning and control problems that involve physical objects and environments. While notable progress has been made, the capabilities of differentiable physics solvers remain limited. We…

We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…

Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive controller to achieve in-hand object rotation using only…

Generating motion-controlled videos--where user-specified actions drive physically plausible scene dynamics under freely chosen viewpoints--demands two capabilities: (1) disentangled motion control, allowing users to separately control the…

In the early stages of engineering design, it is essential to know how a product behaves, especially how it moves. As designers must keep adjusting the motion until it meets the intended requirements, this process is often repetitive and…

The Distributed object computing is a paradigm that allows objects to be distributed across a heterogeneous network, and allows each of the components to interoperate as a unified whole. A new generation of distributed applications, such as…

Interactions between human and objects are influenced not only by the object's pose and shape, but also by physical attributes such as object mass and surface friction. They introduce important motion nuances that are essential for…

As we move through the world, the pattern of light projected on our eyes is complex and dynamic, yet we are still able to distinguish between moving and stationary objects. We propose that humans accomplish this by exploiting constraints…

Visual Object tracking research has undergone significant improvement in the past few years. The emergence of tracking by detection approach in tracking paradigm has been quite successful in many ways. Recently, deep convolutional neural…

Inspired by the emergent behaviors in large language models that generalized human intelligence, the research community is pursuing similar emergent capabilities within world models, with a emphasis on modeling the physical world. Within…

Windows are used quite frequently in a GUI environment. The greatest advantage of using windows is that each window creates a virtual screen space. Hence, although the physical screen space is limited to a few inches, use of windows can…

Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable objects exhibit infinite dimensionality,…

In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…

Perception of the visually disjoint surfaces of our cluttered world as whole objects, physically distinct from those overlapping them, is a cognitive phenomenon called objectness that forms the basis of our visual perception. Shared by all…

We contribute a first design space on visualizations in motion and the design of a pilot study we plan to run in the fall. Visualizations can be useful in contexts where either the observation is in motion or the whole visualization is…

The Physical Web is a generic term describes interconnection of physical objects and web. The Physical Web lets present physical objects in a web. There are different ways to do that and we will discuss them in our paper. Usually, the web…

Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we…

We adopt a component model based on object-oriented systems, introducing the concepts of components and their structure. A component consists of a dynamically changing set of connected objects. Only some of these objects are interface…