Related papers: Physical Primitive Decomposition
Hierarchies allow feature sharing between objects at multiple levels of representation, can code exponential variability in a very compact way and enable fast inference. This makes them potentially suitable for learning and recognizing a…
Answering complex questions often requires multi-step reasoning in order to obtain the final answer. Most research into decompositions of complex questions involves open-domain systems, which have shown success in using these decompositions…
In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
Developable surfaces are commonly observed in various applications such as architecture, product design, manufacturing, mechanical materials, and data physicalization as well as in the development of tangible interaction and deformable…
Objects are entities we act upon, where the functionality of an object is determined by how we interact with it. In this work we propose a Dual Attention Network model which reasons about human-object interactions. The dual-attentional…
In physics, there is the prevailing intuition that we are part of a unique external world, and that the goal of physics is to understand and describe this world. This assumption of the fundamentality of objective reality is often seen as a…
Animals achieve sophisticated behavioral control through dynamic coupling of the brain, body, and environment. Accordingly, the co-design approach, in which both the controllers and the physical properties are optimized simultaneously, has…
Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…
The abstraction of 3D objects with simple geometric primitives like cuboids allows to infer structural information from complex geometry. It is important for 3D shape understanding, structural analysis and geometric modeling. We introduce a…
Complexity of patterns is a key information for human brain to differ objects of about the same size and shape. Like other innate human senses, the complexity perception cannot be easily quantified. We propose a transparent and universal…
We describe an ongoing project in learning to perform primitive actions from demonstrations using an interactive interface. In our previous work, we have used demonstrations captured from humans performing actions as training samples for a…
Computer simulation models are widely used to study complex physical systems. A related fundamental topic is the inverse problem, also called calibration, which aims at learning about the values of parameters in the model based on…
We introduce the first metric for evaluating disentanglement at individual hierarchy levels of a structured latent representation. Applied to object-centric generative models, this offers a systematic, unified approach to evaluating (i)…
As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…
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…
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…
This study presents a theoretical model for a self-replicating mechanical system inspired by biological processes within living cells and supported by computer simulations. The model decomposes self-replication into core components, each of…
Objects are a centerpiece of the mathematical realm and our interaction with and reasoning about it, just as they are of the physical one (if not more). And humans' mathematical reasoning must ultimately be grounded in our general…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…
Visual priming is known to affect the human visual system to allow detection of scene elements, even those that may have been near unnoticeable before, such as the presence of camouflaged animals. This process has been shown to be an effect…