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We present a task-aware approach to synthetic data generation. Our framework employs a trainable synthesizer network that is optimized to produce meaningful training samples by assessing the strengths and weaknesses of a `target' network.…

Robot-assisted dressing could benefit the lives of many people such as older adults and individuals with disabilities. Despite such potential, robot-assisted dressing remains a challenging task for robotics as it involves complex…

With the advent of generative modeling techniques, synthetic data and its use has penetrated across various domains from unstructured data such as image, text to structured dataset modeling healthcare outcome, risk decisioning in financial…

Human motion prediction and trajectory forecasting are essential in human motion analysis. Nowadays, sensors can be seamlessly integrated into clothing using cutting-edge electronic textile (e-textile) technology, allowing long-term…

Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive…

We present a novel approach for robust manipulation of high-DOF deformable objects such as cloth. Our approach uses a random forest-based controller that maps the observed visual features of the cloth to an optimal control action of the…

Robotic manipulation of cloth is a challenging task due to the high dimensionality of the configuration space and the complexity of dynamics affected by various material properties. The effect of complex dynamics is even more pronounced in…

Training a deep network to perform semantic segmentation requires large amounts of labeled data. To alleviate the manual effort of annotating real images, researchers have investigated the use of synthetic data, which can be labeled…

In industrial manufacturing, deploying deep learning models for visual inspection is mostly hindered by the high and often intractable cost of collecting and annotating large-scale training datasets. While image synthesis from 3D CAD models…

Synthetic image data generation represents a promising avenue for training deep learning models, particularly in the realm of transfer learning, where obtaining real images within a specific domain can be prohibitively expensive due to…

We present a virtual reality (VR) framework to automate the data collection process in cloth folding tasks. The framework uses skeleton representations to help the user define the folding plans for different classes of garments, allowing…

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…

Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…

A long-standing challenge in developing machine learning approaches has been the lack of high-quality labeled data. Recently, models trained with purely synthetic data, here termed synthetic clones, generated using large-scale pre-trained…

Manipulation of thin materials is critical for many everyday tasks and remains a significant challenge for robots. While existing research has made strides in tasks like material smoothing and folding, many studies struggle with common…

The success of deep learning depends heavily on the availability of large datasets, but in robotic manipulation there are many learning problems for which such datasets do not exist. Collecting these datasets is time-consuming and…

In the current data driven era, synthetic data, artificially generated data that resembles the characteristics of real world data without containing actual personal information, is gaining prominence. This is due to its potential to…

Few-shot image classification remains challenging due to the scarcity of labeled training examples. Augmenting them with synthetic data has emerged as a promising way to alleviate this issue, but models trained on synthetic samples often…

Accurate real-time tracking of dexterous hand movements and interactions has numerous applications in human-computer interaction, metaverse, robotics, and tele-health. Capturing realistic hand movements is challenging because of the large…

Given an isolated garment image in a canonical product view and a separate image of a person, the virtual try-on task aims to generate a new image of the person wearing the target garment. Prior virtual try-on works face two major…