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Current 6D object pose methods consist of deep CNN models fully optimized for a single object but with its architecture standardized among objects with different shapes. In contrast to previous works, we explicitly exploit each object's…
In agricultural robotics, effective observation and localization of fruits present challenges due to occlusions caused by other parts of the tree, such as branches and leaves. These occlusions can result in false fruit localization or…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
Robot-assisted dressing could benefit the lives of many people such as older adults and individuals with disabilities. Despite such potential, robot-assisted dressing remains a challenging task for robotics as it involves complex…
Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…
Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…
Cloth manipulation is a difficult problem mainly because of the non-rigid nature of cloth, which makes a good representation of deformation essential. We present a new representation for the deformation-state of clothes. First, we propose…
Human-robot collaboration requires the establishment of methods to guarantee the safety of participating operators. A necessary part of this process is ensuring reliable human pose estimation. Established vision-based modalities encounter…
Kinesthetic garments provide physical feedback on body posture and motion through tailored distributions of reinforced material. Their ability to selectively stiffen a garment's response to specific motions makes them appealing for…
We present a learning approach for localization and segmentation of objects in an image in a manner that is robust to partial occlusion. Our algorithm produces a bounding box around the full extent of the object and labels pixels in the…
Head pose estimation has become a crucial area of research in computer vision given its usefulness in a wide range of applications, including robotics, surveillance, or driver attention monitoring. One of the most difficult challenges in…
Generating realistic clothing for virtual applications like online retail and digital avatars is crucial but requires expert knowledge of 3D tools to generating believable simulations. Recently, a number of works proposed to estimate cloth…
Clothes manipulation, such as folding or hanging, is a critical capability for home service robots. Despite recent advances, most existing methods remain limited to specific clothes types and tasks, due to the complex, high-dimensional…
Physical manipulation of garments is often crucial when performing fabric-related tasks, such as hanging garments. However, due to the deformable nature of fabrics, these operations remain a significant challenge for robots in household,…
Identification of textile properties is an important milestone toward advanced robotic manipulation tasks that consider interaction with clothing items such as assisted dressing, laundry folding, automated sewing, textile recycling and…
Folding can transform mundane objects such as napkins into stunning works of art. However, finding new folding transformations for sheet materials is a challenging problem that requires expertise and real-world experimentation. In this…
Physical reasoning is a core aspect of intelligence in animals and humans. A central question is what model should be used as a basis for reasoning. Existing work considered models ranging from intuitive physics and physical simulators to…
When folding a 3D object from a 2D material like paper, typically only an approximation of the original surface geometry is needed. Such an approximation can effectively be created by a (progressive) mesh simplification approach, e.g. using…
This paper presents a computational model to recover the most likely interpretation of the 3D scene structure from a planar image, where some objects may occlude others. The estimated scene interpretation is obtained by integrating some…
Robust in-bed human pose estimation under blanket occlusion remains challenging due to the scarcity of reliable labeled training data for heavily covered poses. Existing approaches rely on multi-modal sensing or image-to-image translation…