Related papers: Robot Calligraphy using Pseudospectral Optimal Con…
Chinese calligraphy is a unique art form with great artistic value but difficult to master. In this paper, we formulate the calligraphy writing problem as a trajectory optimization problem, and propose an improved virtual brush model for…
Human-like planning skills and dexterous manipulation have long posed challenges in the fields of robotics and artificial intelligence (AI). The task of reinterpreting calligraphy presents a formidable challenge, as it involves the…
Chinese calligraphy is the writing of Chinese characters as an art form performed with brushes so Chinese characters are rich of shapes and details. Recent studies show that Chinese characters can be generated through image-to-image…
We present a novel continuous time trajectory representation based on a Chebyshev polynomial basis, which when governed by known dynamics models, allows for full trajectory and robot dynamics estimation, particularly useful for…
Chinese calligraphy can be viewed as a unique form of visual art. Recent advancements in computer vision hold significant potential for the future development of generative models in the realm of Chinese calligraphy. Nevertheless, methods…
Process-based learning is crucial for the transmission of intangible cultural heritage, especially in complex arts like Chinese calligraphy, where mastering techniques cannot be achieved by merely observing the final work. To explore the…
Planning from demonstrations has shown promising results with the advances of deep neural networks. One of the most popular real-world applications is automated handwriting using a robotic manipulator. Classically it is simplified as a…
In this paper, we introduce CalliffusionV2, a novel system designed to produce natural Chinese calligraphy with flexible multi-modal control. Unlike previous approaches that rely solely on image or text inputs and lack fine-grained control,…
This paper details a methodology to transcribe an optimal control problem into a nonlinear program for generation of the trajectories that optimize a given functional by approximating only the highest order derivatives of a given system's…
A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remote location. The proposed control framework aims to improve…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
We present a new robotic drawing system based on stroke-based rendering (SBR). Our motivation is the artistic quality of the whole performance. Not only should the generated strokes in the final drawing resemble the input image, but the…
Handwritten character recognition (HCR) is a challenging problem for machine learning researchers. Unlike printed text data, handwritten character datasets have more variation due to human-introduced bias. With numerous unique character…
Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phase problems. We…
Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
Tasks for autonomous robotic systems commonly require stabilization to a desired region while maintaining safety specifications. However, solving this multi-objective problem is challenging when the dynamics are nonlinear and…
Training agents to autonomously learn how to use anthropomorphic robotic hands has the potential to lead to systems capable of performing a multitude of complex manipulation tasks in unstructured and uncertain environments. In this work, we…
This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…
Automatic character generation is an appealing solution for new typeface design, especially for Chinese typefaces including over 3700 most commonly-used characters. This task has two main pain points: (i) handwritten characters are usually…