Related papers: Ditto: Building Digital Twins of Articulated Objec…
The transformation to Industry 4.0 also transforms the processes of how we develop intelligent manufacturing production systems. To advance the software development of these new (embedded) software systems, digital twins may be employed.…
Understanding the 3D motion of articulated objects is essential in robotic scene understanding, mobile manipulation, and motion planning. Prior methods for articulation estimation have primarily focused on controlled settings, assuming…
The paper concerns the extension of the Heritage Digital Twin Ontology introduced in previous work to describe the reactivity of digital twins used for cultural heritage documentation by including the semantic description of sensors and…
Rendering articulated objects while controlling their poses is critical to applications such as virtual reality or animation for movies. Manipulating the pose of an object, however, requires the understanding of its underlying structure,…
Cognitive Twins (CT) are proposed as Digital Twins (DT) with augmented semantic capabilities for identifying the dynamics of virtual model evolution, promoting the understanding of interrelationships between virtual models and enhancing the…
Articulated object manipulation requires precise object interaction, where the object's axis must be carefully considered. Previous research employed interactive perception for manipulating articulated objects, but typically, open-loop…
Digital Twins (DTs) are becoming increasingly vital for future industrial applications, enhancing monitoring, control, and optimization of physical assets. This enhancement is made possible by integrating various Digital Models (DMs) within…
The convergence of modeling & simulation (M&S) and artificial intelligence (AI) is leaving its marks on advanced digital technology. Pertinent examples are digital twins (DTs) - high-fidelity, live representations of physical assets, and…
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of manipulating arbitrary articulated…
In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, the scarcity of diverse, high-quality demonstration data and…
Desktop environments can integrate augmented reality (AR) head-worn devices to support 3D representations, visualizations, and interactions in a novel yet familiar setting. As users navigate across the dual realities -- desktop and AR -- a…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
Digital twin is a problem of augmenting real objects with their digital counterparts. It can underpin a wide range of applications in augmented reality (AR), autonomy, and UI/UX. A critical component in a good digital-twin system is…
Precisely grasping and reconstructing articulated objects is key to enabling general robotic manipulation. In this paper, we propose CenterArt, a novel approach for simultaneous 3D shape reconstruction and 6-DoF grasp estimation of…
We present CARTO, a novel approach for reconstructing multiple articulated objects from a single stereo RGB observation. We use implicit object-centric representations and learn a single geometry and articulation decoder for multiple object…
Alignment between real and virtual objects is a challenging task required for the deployment of Mixed Reality (MR) into manufacturing, medical, and construction applications. To face this challenge, a series of methods have been proposed.…
As collaborative robot (Cobot) adoption in many sectors grows, so does the interest in integrating digital twins in human-robot collaboration (HRC). Virtual representations of physical systems (PT) and assets, known as digital twins, can…
A digital twin is a powerful tool that can help monitor and optimize physical assets in real-time. Simply put, it is a virtual representation of a physical asset, enabled through data and simulators, that can be used for a variety of…
Digital twins are meant to bridge the gap between real-world physical systems and virtual representations. Both stand-alone and descriptive digital twins incorporate 3D geometric models, which are the physical representations of objects in…
Digital Twins technology is revolutionizing decision-making in scientific research by integrating models and simulations with real-time data. Unlike traditional Structural Health Monitoring methods, which rely on computationally intensive…