Related papers: STMPL: Human Soft-Tissue Simulation

While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…

To enable realistic experience in AR/VR and digital entertainment, we present the first point-based human avatar model that embodies the entirety expressive range of digital humans. We employ two MLPs to model pose-dependent deformation and…

Dressed people reconstruction from images is a popular task with promising applications in the creative media and game industry. However, most existing methods reconstruct the human body and garments as a whole with the supervision of 3D…

To reconstruct a 3D human surface from a single image, it is crucial to simultaneously consider human pose, shape, and clothing details. Recent approaches have combined parametric body models (such as SMPL), which capture body pose and…

Simple models for spherical particles with a soft shell have been shown to self-assemble into numerous crystal phases and even quasicrystals. However, most of these models rely on a simple pairwise interaction, which is usually a valid…

Most biological tissues grow by the synthesis of new material close to the tissue's interface, where spatial interactions can exert strong geometric influences on the local rate of growth. These geometric influences may be mechanistic, or…

With the explosive growth of available training data, single-image 3D human modeling is ahead of a transition to a data-centric paradigm. A key to successfully exploiting data scale is to design flexible models that can be supervised from…

We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…

Soft materials are not only highly deformable but they also possess rich and diverse body dynamics. Soft body dynamics exhibit a variety of properties, including nonlinearity, elasticity, and potentially infinitely many degrees of freedom.…

In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…

We propose an approach for optimizing high-quality clothed human body shapes in minutes, using multi-view posed images. While traditional neural rendering methods struggle to disentangle geometry and appearance using only rendering loss,…

We present a GPU-friendly framework for real-time implicit simulation of elastic material in the presence of frictional contacts. The integration of hyperelasticity, non-interpenetration contact, and friction in real-time simulations…

Parametric body models offer expressive 3D representation of humans across a wide range of poses, shapes, and facial expressions, typically derived by learning a basis over registered 3D meshes. However, existing human mesh modeling…

Deep learning and reinforcement learning methods have been shown to enable learning of flexible and complex robot controllers. However, the reliance on large amounts of training data often requires data collection to be carried out in…

The Finite Element Method (FEM) is a powerful modeling tool for predicting soft robots' behavior, but its computation time can limit practical applications. In this paper, a learning-based approach based on condensation of the FEM model is…

We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…

Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…

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…

We present a novel method for generating 3D garment deformations from given body poses, which is key to a wide range of applications, including virtual try-on and extended reality. To simplify the cloth dynamics, existing methods mostly…

In the real world, we often come across soft objects having spatially varying stiffness, such as human palm or a wart on the skin. In this paper, we propose a novel approach to render thin, deformable objects having spatially varying…