Related papers: Curvature sensing by vision and touch
Touch is the first sense among human senses. Not only that, but it is also one of the most important senses that are indispensable. However, compared to sight and hearing, it is often neglected. In particular, since humans use the tactile…
Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…
Quantum states of spin systems that can be represented with weighted graphs $G(V, E)$ are studied. The geometrical characteristics of these states are examined. We find that the velocity of quantum evolution is determined by the sum of the…
Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO:an implicit, multi-modal, and continuous representation for…
Textured meshes significantly enhance the realism and detail of objects by mapping intricate texture details onto the geometric structure of 3D models. This advancement is valuable across various applications, including entertainment,…
The universal scaling law of cortical morphology describes cortical folding as the covariance of average grey matter thickness, pial surface area, and exposed surface area. It applies for mammalian species, humans, and across lobes, however…
Bringing a rigid object into contact with a soft elastic tube causes the tube to conform to the surface of the object, resulting in contact lines. The curvature of the tube walls near these contact lines is often large and is typically…
Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…
We present Neural Strands, a novel learning framework for modeling accurate hair geometry and appearance from multi-view image inputs. The learned hair model can be rendered in real-time from any viewpoint with high-fidelity view-dependent…
Active soft bodies can affect their shape through an internal actuation mechanism that induces a deformation. Similar to recent work, this paper utilizes a differentiable, quasi-static, and physics-based simulation layer to optimize for…
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…
Human physical reasoning relies on internal "body" representations - coarse, volumetric approximations that capture an object's extent and support intuitive predictions about motion and physics. While psychophysical evidence suggests humans…
A central goal of neuroscience is to understand the representations formed by brain activity patterns and their connection to behavior. The classical approach is to investigate how individual neurons encode the stimuli and how their tuning…
We introduce a novel neural representation for maps between 3D shapes based on flow-matching models, which is computationally efficient and supports cross-representation shape matching without large-scale training or data-driven procedures.…
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…
In order to interact with objects in our environment, humans rely on an understanding of the actions that can be performed on them, as well as their properties. When considering concrete motor actions, this knowledge has been called the…
We propose a unified method to visualize curvature on planar curves and surfaces of revolution using the tangential angle parameter. For plane curves, placing markers at equal increments of the tangential angle reveals local bending…
We introduce a deep appearance model for rendering the human face. Inspired by Active Appearance Models, we develop a data-driven rendering pipeline that learns a joint representation of facial geometry and appearance from a multiview…
Current theories of perception suggest that the brain represents features of the world as probability distributions, but can such uncertain foundations provide the basis for everyday vision? Perceiving objects and scenes requires knowing…
We introduce a novel definition of curvature for hypergraphs, a natural generalization of graphs, by introducing a multi-marginal optimal transport problem for a naturally defined random walk on the hypergraph. This curvature, termed…