Related papers: ACID: Action-Conditional Implicit Visual Dynamics …
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…
In this work we present a novel approach for computing correspondences between non-rigid objects, by exploiting a reduced representation of deformation fields. Different from existing works that represent deformation fields by training a…
We introduce PICA, a novel representation for high-fidelity animatable clothed human avatars with physics-accurate dynamics, even for loose clothing. Previous neural rendering-based representations of animatable clothed humans typically…
Physically-based simulation is a powerful approach for 3D facial animation as the resulting deformations are governed by physical constraints, allowing to easily resolve self-collisions, respond to external forces and perform realistic…
Perceiving and manipulating 3D articulated objects (e.g., cabinets, doors) in human environments is an important yet challenging task for future home-assistant robots. The space of 3D articulated objects is exceptionally rich in their…
The imminent impact of immersive technologies in society urges for active research in real-time and interactive physics simulation for virtual worlds to be realistic. In this context, realistic means to be compliant to the laws of physics.…
Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly…
In this work, we focus on the task of learning and representing dense correspondences in deformable object categories. While this problem has been considered before, solutions so far have been rather ad-hoc for specific object types (i.e.,…
Using visual model-based learning for deformable object manipulation is challenging due to difficulties in learning plannable visual representations along with complex dynamic models. In this work, we propose a new learning framework that…
We address the problem of shaping deformable plastic materials using non-prehensile actions. Shaping plastic objects is challenging, since they are difficult to model and to track visually. We study this problem, by using kinetic sand, a…
Clay sculpting is a nuanced, artistic task involving dexterous manipulation with long-horizon planning to achieve high-level goals. As a robotics problem, we formulate clay sculpting as a shape-to-shape matching challenge. Prior deformable…
Learning deformable 3D object models from single-view in-the-wild images has enabled impressive 3D shape reconstruction without supervision. However, it remains unclear whether these models capture the semantic structure required for…
Understanding and manipulating deformable objects (e.g., ropes and fabrics) is an essential yet challenging task with broad applications. Difficulties come from complex states and dynamics, diverse configurations and high-dimensional action…
In this paper, we present a simple yet efficient approach for video representation, called Adversarial Video Distillation (AVD). The key idea is to represent videos by compressing them in the form of realistic images, which can be used in a…
The recent increase in popularity of volumetric representations for scene reconstruction and novel view synthesis has put renewed focus on animating volumetric content at high visual quality and in real-time. While implicit deformation…
3D facial animation is often produced by manipulating facial deformation models (or rigs), that are traditionally parameterized by expression controls. A key component that is usually overlooked is expression 'style', as in, how a…
The robotic manipulation of composite rigid-deformable objects (i.e. those with mixed non-homogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has…
Recent work has made significant progress on using implicit functions, as a continuous representation for 3D rigid object shape reconstruction. However, much less effort has been devoted to modeling general articulated objects. Compared to…
We introduce Vysics, a vision-and-physics framework for a robot to build an expressive geometry and dynamics model of a single rigid body, using a seconds-long RGBD video and the robot's proprioception. While the computer vision community…
The manipulation of deformable objects by robotic systems presents a significant challenge due to their complex and infinite-dimensional configuration spaces. This paper introduces a novel approach to Deformable Object Manipulation (DOM) by…