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Deformation detection is vital for enabling accurate assessment and prediction of structural changes in materials, ensuring timely and effective interventions to maintain safety and integrity. Automating deformation detection through…
This study presents a rigid-deformation decomposition framework for vehicle collision dynamics that mitigates the spectral bias of implicit neural representations, that is, coordinate-based neural networks that directly map spatio-temporal…
Shape retrieval and alignment are a promising avenue towards turning 3D scans into lightweight CAD representations that can be used for content creation such as mobile or AR/VR gaming scenarios. Unfortunately, CAD model retrieval is limited…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
Although commercial and open-source software exist to reconstruct a static object from a sequence recorded with an RGB-D sensor, there is a lack of tools that build rigged models of articulated objects that deform realistically and can be…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
The ability to extend the field of view of laparoscopy images can help the surgeons to obtain a better understanding of the anatomical context. However, due to tissue deformation, complex camera motion and significant three-dimensional (3D)…
Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
Step-and-project is a popular way to simulate non-penetrated deformable bodies in physically-based animation. First integrating the system in time regardless of contacts and post resolving potential intersections practically strike a good…
This paper addresses the challenge of reconstructing an animatable human model from a multi-view video. Some recent works have proposed to decompose a non-rigidly deforming scene into a canonical neural radiance field and a set of…
The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…
In this work, we present a novel, integrated rigged character simulation framework in Conformal Geometric Algebra (CGA) that supports, for the first time, real-time cuts and tears, before and/or after the animation, while maintaining…
Shape deformation is an important component in any geometry processing toolbox. The goal is to enable intuitive deformations of single or multiple shapes or to transfer example deformations to new shapes while preserving the plausibility of…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
Automatic estimation of skinning transformations is a popular way to deform a single reference shape into a new pose by providing a small number of control parameters. We generalize this approach by efficiently enabling the use of multiple…
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…
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…