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There is growing interest in automating agricultural tasks that require intricate and precise interaction with specialty crops, such as trees and vines. However, developing robotic solutions for crop manipulation remains a difficult…
We present a general framework for the garment animation problem through unsupervised deep learning inspired in physically based simulation. Existing trends in the literature already explore this possibility. Nonetheless, these approaches…
Robot awareness of human actions is an essential research problem in robotics with many important real-world applications, including human-robot collaboration and teaming. Over the past few years, depth sensors have become a standard device…
We propose to use morphing algorithms to deduce some approximate wave pictures of scattering by cylindrical invisibility cloaks of various shapes deduced from the exact computation (e.g. using a finite element method) of scattering by…
Textile sensors transform our everyday clothing into a means to track movement and bio-signals in a completely unobtrusive way. One major hindrance to the adoption of "smart" clothing is the difficulty encountered with connections and space…
This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant challenges due to the complex dynamics of DLOs. To address…
Traditional virtual try-on methods primarily focus on the garment-to-person try-on task, which requires flat garment representations. In contrast, this paper introduces a novel approach to the person-to-person try-on task. Unlike the…
This paper presents a rigorous evaluation of Real-to-Sim parameter estimation approaches for fabric manipulation in robotics. The study systematically assesses three state-of-the-art approaches, namely two differential pipelines and a…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Manipulating deformable linear objects (DLOs) such as wires and cables is crucial in various applications like electronics assembly and medical surgeries. However, it faces challenges due to DLOs' infinite degrees of freedom, complex…
Garment refitting, the task of adapting a garment from a source to a target avatar, must preserve the original design features and fine-scale wrinkles, a challenge exacerbated by significant shape variations and varying poses without…
Automating garment manipulation is challenging due to extremely high variability in object configurations. To reduce this intrinsic variation, we introduce the task of "canonicalized-alignment" that simplifies downstream applications by…
Understanding and manipulating deformable objects (e.g., ropes and fabrics) is an essential yet challenging task with broad applications. Difficulties come from complex states and dynamics, diverse configurations and high-dimensional action…
We propose a hardware and software pipeline to fabricate flexible wearable sensors and use them to capture deformations without line of sight. Our first contribution is a low-cost fabrication pipeline to embed multiple aligned conductive…
This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane on a mannequin is deformed by inflating several curved…
The fashion industry is increasingly leveraging computer vision and deep learning technologies to enhance online shopping experiences and operational efficiencies. In this paper, we address the challenge of generating high-fidelity tiled…
Gabor wavelet is an essential tool for image analysis and computer vision tasks. Local structure tensors with multiple scales are widely used in local feature extraction. Our research indicates that the current corner detection method based…
In a computer-based virtual environment, objects may collide with each other. Therefore, different algorithms are needed to detect the collision and perform a correct action in order to avoid penetration. Based on the application and…
Achieving realistic animated human avatars requires accurate modeling of pose-dependent clothing deformations. Existing learning-based methods heavily rely on the Linear Blend Skinning (LBS) of minimally-clothed human models like SMPL to…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…