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An automated prepreg fabric draping system is being developed which consists of an array of actuated grippers. It has the ability to pick up a fabric ply and place it onto a double-curved mold surface. A previous research effort based on a…
We propose a neural network-based approach for collision detection with deformable objects. Unlike previous approaches based on bounding volume hierarchies, our neural approach does not require an update of the spatial data structure when…
The limited and dynamically varied resources on edge devices motivate us to deploy an optimized deep neural network that can adapt its sub-networks to fit in different resource constraints. However, existing works often build sub-networks…
Neural simulators promise efficient surrogates for physics simulation, but scaling them is bottlenecked by the prohibitive cost of generating high-fidelity training data. Pre-training on abundant off-the-shelf geometries offers a natural…
Modeling animatable human avatars from monocular or multi-view videos has been widely studied, with recent approaches leveraging neural radiance fields (NeRFs) or 3D Gaussian Splatting (3DGS) achieving impressive results in novel-view and…
The manipulation of garments poses research challenges due to their deformable nature and the extensive variability in shapes and sizes. Despite numerous attempts by researchers to address these via approaches involving robot perception and…
Skin dynamics contributes to the enriched realism of human body models in rendered scenes. Traditional methods rely on physics-based simulations to accurately reproduce the dynamic behavior of soft tissues. Due to the model complexity and…
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…
Image-based garment transfer replaces the garment on the target human with the desired garment; this enables users to virtually view themselves in the desired garment. To this end, many approaches have been proposed using the generative…
Grasping is a fundamental skill for interacting with and manipulating objects in the environment. However, this ability can be challenging for individuals with hand impairments. Soft hand exoskeletons designed to assist grasping can enhance…
Simulation of the dynamics of physical systems is essential to the development of both science and engineering. Recently there is an increasing interest in learning to simulate the dynamics of physical systems using neural networks.…
Active soft bodies can affect their shape through an internal actuation mechanism that induces a deformation. Similar to recent work, this paper utilizes a differentiable, quasi-static, and physics-based simulation layer to optimize for…
Deep learning has demonstrated remarkable capabilities in simulating complex dynamic systems. However, existing methods require known physical properties as supervision or inputs, limiting their applicability under unknown conditions. To…
Three-dimensional human body models are widely used in the analysis of human pose and motion. Existing models, however, are learned from minimally-clothed 3D scans and thus do not generalize to the complexity of dressed people in common…
We propose a method for computing a sewing pattern of a given 3D garment model. Our algorithm segments an input 3D garment shape into patches and computes their 2D parameterization, resulting in pattern pieces that can be cut out of fabric…
Flow based garment warping is an integral part of image-based virtual try-on networks. However, optimizing a single flow predicting network for simultaneous global boundary alignment and local texture preservation results in sub-optimal…
Garment restoration, the inverse of virtual try-on task, focuses on restoring standard garment from a person image, requiring accurate capture of garment details. However, existing methods often fail to preserve the identity of the garment…
In general, biometry-based control systems may not rely on individual expected behavior or cooperation to operate appropriately. Instead, such systems should be aware of malicious procedures for unauthorized access attempts. Some works…
Cloth detection and manipulation is a common task in domestic and industrial settings, yet such tasks remain a challenge for robots due to cloth deformability. Furthermore, in many cloth-related tasks like laundry folding and bed making, it…
Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…