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In Gasket Assembly, a deformable gasket must be aligned and pressed into a narrow channel. This task is common for sealing surfaces in the manufacturing of automobiles, appliances, electronics, and other products. Gasket Assembly is a…
Equivariant networks are specifically designed to ensure consistent behavior with respect to a set of input transformations, leading to higher sample efficiency and more accurate and robust predictions. However, redesigning each component…
Learning complex manipulation tasks in realistic, obstructed environments is a challenging problem due to hard exploration in the presence of obstacles and high-dimensional visual observations. Prior work tackles the exploration problem by…
Cross-modal garment synthesis and manipulation will significantly benefit the way fashion designers generate garments and modify their designs via flexible linguistic interfaces.Current approaches follow the general text-to-image paradigm…
This paper introduces Multi-Garment Customized Model Generation, a unified framework based on Latent Diffusion Models (LDMs) aimed at addressing the unexplored task of synthesizing images with free combinations of multiple pieces of…
Simulating physically realistic garment deformations is an essential task for virtual immersive experience, which is often achieved by physics simulation methods. However, these methods are typically time-consuming, computationally…
Social network alignment aims at aligning person identities across social networks. Embedding based models have been shown effective for the alignment where the structural proximity preserving objective is typically adopted for the model…
This paper proposes an anchor-based deformation model, namely AnchorDEF, to predict 3D garment animation from a body motion sequence. It deforms a garment mesh template by a mixture of rigid transformations with extra nonlinear…
Bundle adjustment is the common way to solve localization and mapping. It is an iterative process in which a system of non-linear equations is solved using two optimization methods, weighted by a damping factor. In the classic approach, the…
In this work a system for recognizing grasp points in RGB-D images is proposed. This system is intended to be used by a domestic robot when deploying clothes lying at a random position on a table. By taking into consideration that the grasp…
Recently customized generation has significant potential, which uses as few as 3-5 user-provided images to train a model to synthesize new images of a specified subject. Though subsequent applications enhance the flexibility and diversity…
This paper explores a novel approach to model strategies for flattening wrinkled cloth learning from humans. A human participant study was conducted where the participants were presented with various wrinkle types and tasked with flattening…
In this paper, we present ShapeMatcher, a unified self-supervised learning framework for joint shape canonicalization, segmentation, retrieval and deformation. Given a partially-observed object in an arbitrary pose, we first canonicalize…
Online clothing shopping has become increasingly popular, but the high rate of returns due to size and fit issues has remained a major challenge. To address this problem, virtual try-on systems have been developed to provide customers with…
Automatic estimation of skinning transformations is a popular way to deform a single reference shape into a new pose by providing a small number of control parameters. We generalize this approach by efficiently enabling the use of multiple…
Unsupervised anomaly in industry has been a concerning topic and a stepping stone for high performance industrial automation process. The vast majority of industry-oriented methods focus on learning from good samples to detect anomaly…
Recent advances in 3D human shape reconstruction from single images have shown impressive results, leveraging on deep networks that model the so-called implicit function to learn the occupancy status of arbitrarily dense 3D points in space.…
Pick-and-place is an important manipulation task in domestic or manufacturing applications. There exist many works focusing on grasp detection with high picking success rate but lacking consideration of downstream manipulation tasks (e.g.,…
With the aim of creating virtual cloth deformations more similar to real world clothing, we propose a new computational framework that recasts three dimensional cloth deformation as an RGB image in a two dimensional pattern space. Then a…
Manipulation of elastoplastic objects like dough often involves topological changes such as splitting and merging. The ability to accurately predict these topological changes that a specific action might incur is critical for planning…