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Learning the physical simulation on large-scale meshes with flat Graph Neural Networks (GNNs) and stacking Message Passings (MPs) is challenging due to the scaling complexity w.r.t. the number of nodes and over-smoothing. There has been…
Manipulating garments and fabrics has long been a critical endeavor in the development of home-assistant robots. However, due to complex dynamics and topological structures, garment manipulations pose significant challenges. Recent…
Accurately digitizing physical objects is central to many applications, including virtual/augmented reality, industrial design, and e-commerce. Prior research has demonstrated efficient and faithful reconstruction of objects' geometric…
Amidst the rapid growth of fashion e-commerce, remote fitting of fashion articles remains a complex and challenging problem and a main driver of customers' frustration. Despite the recent advances in 3D virtual try-on solutions, such…
Learning to manipulate cloth is both a paradigmatic problem for robotic research and a problem of immediate relevance to a variety of applications ranging from assistive care to the service industry. The complex physics of the deformable…
Accurate grasp force control is one of the key skills for ensuring successful and damage-free robotic grasping of objects. Although existing methods have conducted in-depth research on slip detection and grasping force planning, they often…
Recent advances in garment-centric image generation from text and image prompts based on diffusion models are impressive. However, existing methods lack support for various combinations of attire, and struggle to preserve the garment…
RGB cloth generation has been deeply studied in the related literature, however, 3D garment generation remains an open problem. In this paper, we build a conditional variational autoencoder for 3D garment generation and draping. We propose…
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…
The history-dependent behaviors of classical plasticity models are often driven by internal variables evolved according to phenomenological laws. The difficulty to interpret how these internal variables represent a history of deformation,…
Graph Neural Networks (GNNs) have become a prevailing tool for learning physical dynamics. However, they still encounter several challenges: 1) Physical laws abide by symmetry, which is a vital inductive bias accounting for model…
The interaction of neural networks with physical equations offers a wide range of applications. We provide a method which enables a neural network to transform objects subject to given physical constraints. Therefore an U-Net architecture…
This paper addresses the limitations of neural rendering-based multi-view surface reconstruction methods, which require an additional mesh extraction step that is inconvenient and would produce poor-quality surfaces with mesh aliasing,…
Recent research works have focused on generating human models and garments from their 2D images. However, state-of-the-art researches focus either on only a single layer of the garment on a human model or on generating multiple garment…
Goal-conditioned rearrangement of deformable objects (e.g. straightening a rope and folding a cloth) is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a prescribed goal…
Articulated objects are ubiquitous and important in robotics, AR/VR, and digital twins. Most self-supervised methods for articulated object modeling reconstruct discrete interaction states and relate them via cross-state geometric…
Realistic reconstruction of 3D clothing from an image has wide applications, such as avatar creation and virtual try-on. This paper presents a novel framework that reconstructs the texture map for 3D garments from a single image with pose.…
We propose a deep videorealistic 3D human character model displaying highly realistic shape, motion, and dynamic appearance learned in a new weakly supervised way from multi-view imagery. In contrast to previous work, our controllable 3D…
In this paper, we consider the problem to automatically reconstruct garment and body shapes from a single near-front view RGB image. To this end, we propose a layered garment representation on top of SMPL and novelly make the skinning…
Clothes grasping and unfolding is a core step in robotic-assisted dressing. Most existing works leverage depth images of clothes to train a deep learning-based model to recognize suitable grasping points. These methods often utilize physics…