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For machines to interact with the physical world, they must understand the physical properties of objects and materials they encounter. We use fabrics as an example of a deformable material with a rich set of mechanical properties. A thin…

Knitting turns yarn, a 1D material, into a 2D fabric that is flexible, durable [1], and can be patterned to adopt a wide range of 3D geometries [2]. Like other mechanical metamaterials [3], the elasticity of knitted fabrics is an emergent…

Tactile sensing plays an important role in robotic perception and manipulation. To overcome the real-world limitations of data collection, simulating tactile response in virtual environment comes as a desire direction of robotic research.…

We study the problem of learning graph dynamics of deformable objects that generalizes to unknown physical properties. Our key insight is to leverage a latent representation of elastic physical properties of cloth-like deformable objects…

Micro-appearance models have brought unprecedented fidelity and details to cloth rendering. Yet, these models neglect fabric mechanics: when a piece of cloth interacts with the environment, its yarn and fiber arrangement usually changes in…

As the scale of electronic devices shrinks, "electronic textiles" (e-textiles) will make possible a wide variety of novel applications which are currently unfeasible. Due to the wearability concerns, low-power techniques are critical for…

Tactile sensing plays an important role in robotic perception and manipulation tasks. To overcome the real-world limitations of data collection, simulating tactile response in a virtual environment comes as a desirable direction of robotic…

Emotion Recognition in Conversations (ERC) is a key step towards successful human-machine interaction. While the field has seen tremendous advancement in the last few years, new applications and implementation scenarios present novel…

Delicate cloth simulations have long been desired in computer graphics. Various methods were proposed to improve engaged force interactions, collision handling, and numerical integrations. Deep learning has the potential to achieve fast and…

The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer…

Machine learning approaches have been widely used for discovering the underlying physics of dynamical systems from measured data. Existing approaches, however, still lack robustness, especially when the measured data contain a large level…

Tactile sensors are increasingly integrated into dexterous robotic manipulators to enhance contact perception. However, learning manipulation policies that rely on tactile sensing remains challenging, primarily due to the trade-off between…

Virtual garment simulation has become increasingly important with applications in garment design and virtual try-on. However, reproducing garments faithfully remains a cumbersome process. We propose an end-to-end method for estimating…

During daily activities, humans use their hands to grasp surrounding objects and perceive sensory information which are also employed for perceptual and motor goals. Multiple cortical brain regions are known to be responsible for sensory…

Scale variation has been a challenge from traditional to modern approaches in computer vision. Most solutions to scale issues have a similar theme: a set of intuitive and manually designed policies that are generic and fixed (e.g. SIFT or…

The heterogeneous micromechanical properties of biological tissues have profound implications across diverse medical and engineering domains. However, identifying full-field heterogeneous elastic properties of soft materials using…

Urban segmentation and lane detection are two important tasks for traffic scene perception. Accuracy and fast inference speed of visual perception are crucial for autonomous driving safety. Fine and complex geometric objects are the most…

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…

Humans represent and discriminate the objects in the same category using their properties, and an intelligent robot should be able to do the same. In this paper, we build a robot system that can autonomously perceive the object properties…

Prototyping electronic textile (e-textile) involves embedding electronic components into fabrics to develop smart clothing with specific functionalities. However, this process is still challenging since the complicated wiring setup is…