Related papers: Mesh-based Dynamics with Occlusion Reasoning for C…
Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…
Mollusk shells are an ideal model system for understanding the morpho-elastic basis of morphological evolution of invertebrates' exoskeletons. During the formation of the shell, the mantle tissue secretes proteins and minerals that calcify…
Human de-occlusion, which aims to infer the appearance of invisible human parts from an occluded image, has great value in many human-related tasks, such as person re-id, and intention inference. To address this task, this paper proposes a…
Occlusion handling is one of the challenges of object detection and segmentation, and scene understanding. Because objects appear differently when they are occluded in varying degree, angle, and locations. Therefore, determining the…
Manipulation without grasping, known as non-prehensile manipulation, is essential for dexterous robots in contact-rich environments, but presents many challenges relating with underactuation, hybrid-dynamics, and frictional uncertainty.…
Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…
To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…
Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…
Flow based garment warping is an integral part of image-based virtual try-on networks. However, optimizing a single flow predicting network for simultaneous global boundary alignment and local texture preservation results in sub-optimal…
In the realm of robotic cloth manipulation, accurately estimating the cloth state during or post-execution is imperative. However, the inherent complexities in a cloth's dynamic behavior and its near-infinite degrees of freedom (DoF) pose…
Occlusions of objects is one of the indispensable problems in Computer vision. While Convolutional Neural Net-works (CNNs) provide various state of the art approaches for regular image classification, they however, prove to be not as…
Learning skills that interact with objects is of major importance for robotic manipulation. These skills can indeed serve as an efficient prior for solving various manipulation tasks. We propose a novel Skill Learning approach that…
Current methods for 2D and 3D object understanding struggle with severe occlusions in busy urban environments, partly due to the lack of large-scale labeled ground-truth annotations for learning occlusion. In this work, we introduce a novel…
Current multi-modal models exhibit a notable misalignment with the human visual system when identifying objects that are visually assimilated into the background. Our observations reveal that these multi-modal models cannot distinguish…
We present SCULPT, a novel 3D generative model for clothed and textured 3D meshes of humans. Specifically, we devise a deep neural network that learns to represent the geometry and appearance distribution of clothed human bodies. Training…
Concealing an object from incoming waves (light and/or sound) remained science fiction for a long time due to the absence of wave-shielding materials in nature. Yet, the invention of artificial materials and new physical principles for…
Goal-oriented grasping in dense clutter, a fundamental challenge in robotics, demands an adaptive policy to handle occluded target objects and diverse configurations. Previous methods typically learn policies based on partially observable…
We study how to generalize the visuomotor policy of a mobile manipulator from the perspective of visual observations. The mobile manipulator is prone to occlusion owing to its own body when only a single viewpoint is employed and a…