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While manipulating rigid objects is an extensively explored research topic, deformable linear object (DLO) manipulation seems significantly underdeveloped. A potential reason for this is the inherent difficulty in describing and observing…
This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using a novel and low-cost data collection platform with a…
Deformable linear objects (DLOs) manipulation presents significant challenges due to DLOs' inherent high-dimensional state space and complex deformation dynamics. The wide-populated obstacles in realistic workspaces further complicate DLO…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
Structured 3D representations such as keypoints and meshes offer compact, expressive descriptions of deformable objects, jointly capturing geometric and topological information useful for downstream tasks such as dynamics modeling and…
In this work, we propose a disentangled latent optimization-based method for parameterizing grouped deforming 3D objects into shape and deformation factors in an unsupervised manner. Our approach involves the joint optimization of a…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
In deformable object manipulation, we often want to interact with specific segments of an object that are only defined in non-deformed models of the object. We thus require a system that can recognize and locate these segments in sensor…
This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant challenges due to the complex dynamics of DLOs. To address…
This paper presents deformable templates as a tool for segmentation and localization of biological structures in medical images. Structures are represented by a prototype template, combined with a parametric warp mapping used to deform the…
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…
This paper proposes a new framework and algorithms to address the problem of diffeomorphic registration on a general class of geometric objects that can be described as discrete distributions of local direction vectors. It builds on both…
This paper addresses the problem of contact-based manipulation of deformable linear objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the burden of high-dimensional continuous state-action spaces, we model…
This paper proposes a fully decentralized and recursive approach to online identification of unknown kinematic and dynamic parameters for cooperative manipulation of a rigid body based on commonly used local measurements. To the best of our…
Deformable parts models show a great potential in tracking by principally addressing non-rigid object deformations and self occlusions, but according to recent benchmarks, they often lag behind the holistic approaches. The reason is that…
Local feature extraction is a standard approach in computer vision for tackling important tasks such as image matching and retrieval. The core assumption of most methods is that images undergo affine transformations, disregarding more…
Image registration is a process of aligning two or more images of same objects using geometric transformation. Most of the existing approaches work on the assumption of location invariance. These approaches require object-centric images to…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…
We propose Neural Deformable Fields (NDF), a new representation for dynamic human digitization from a multi-view video. Recent works proposed to represent a dynamic human body with shared canonical neural radiance fields which links to the…
The free-form deformation model can represent a wide range of non-rigid deformations by manipulating a control point lattice over the image. However, due to a large number of parameters, it is challenging to fit the free-form deformation…