Related papers: Global Model Learning for Large Deformation Contro…

Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation,…

Deep neural network (DNN)-based adaptive controllers can be used to compensate for unstructured uncertainties in nonlinear dynamic systems. However, DNNs are also very susceptible to overfitting and co-adaptation. Dropout regularization is…

Deep reinforcement learning has shown its advantages in real-time decision-making based on the state of the agent. In this stage, we solved the task of using a real robot to manipulate the cube to a given trajectory. The task is broken down…

The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…

Continuous monitoring and real-time control of high-dimensional distributed systems are often crucial in applications to ensure a desired physical behavior, without degrading stability and system performances. Traditional feedback control…

Manipulating deformable objects, such as ropes and clothing, is a long-standing challenge in robotics, because of their large degrees of freedom, complex non-linear dynamics, and self-occlusion in visual perception. The key difficulty is a…

We use Machine Learning (ML) and system identification validation approaches to estimate neural network models of large-scale Deformable Mirrors (DMs) used in Adaptive Optics (AO) systems. To obtain the training, validation, and test data…

Soft robots have shown immense promise in settings where they can leverage dynamic control of their entire bodies. However, effective dynamic shape control requires a controller that accounts for the robot's high-dimensional dynamics--a…

Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…

In this work, we consider the task of improving the accuracy of dynamic models for model predictive control (MPC) in an online setting. Although prediction models can be learned and applied to model-based controllers, these models are often…

Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…

Long-horizon routing tasks of deformable linear objects (DLOs), such as cables and ropes, are common in industrial assembly lines and everyday life. These tasks are particularly challenging because they require robots to manipulate DLO with…

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…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

This work proposes a robotic pipeline for picking and constrained placement of objects without geometric shape priors. Compared to recent efforts developed for similar tasks, where every object was assumed to be novel, the proposed system…

We propose a new methodology to estimate the 3D displacement field of deformable objects from video sequences using standard monocular cameras. We solve in real time the complete (possibly visco-)hyperelasticity problem to properly describe…

We propose a novel technique for producing high-quality 3D models that match a given target object image or scan. Our method is based on retrieving an existing shape from a database of 3D models and then deforming its parts to match the…

Steering a system towards a desired target in a very short amount of time is challenging from a computational standpoint. Indeed, the intrinsically iterative nature of optimal control problems requires multiple simulations of the physical…

We propose a framework that can deform an object in a 2D image as it exists in 3D space. Most existing methods for 3D-aware image manipulation are limited to (1) only changing the global scene information or depth, or (2) manipulating an…

This paper addresses the problem of online learning in a dynamic setting. We consider a social network in which each individual observes a private signal about the underlying state of the world and communicates with her neighbors at each…