Related papers: Toward Ubiquitous 3D Object Digitization: A Wearab…
An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design for demonstrating cloth folding to robots. Users choose pick…
When created faithfully from real-world data, Digital 3D representations of objects can be useful for human or computer-assisted analysis. Such models can also serve for generating training data for machine learning approaches in settings…
Garment representation, editing and animation are challenging topics in the area of computer vision and graphics. It remains difficult for existing garment representations to achieve smooth and plausible transitions between different shapes…
Minimally invasive procedures have been advanced rapidly by the robotic laparoscopic surgery. The latter greatly assists surgeons in sophisticated and precise operations with reduced invasiveness. Nevertheless, it is still safety critical…
Reasoning over the interplay between object deformation and force transmission through contact is central to the manipulation of compliant objects. In this paper, we propose Neural Deforming Contact Field (NDCF), a representation that…
Learning an animatable and clothed human avatar model with vivid dynamics and photorealistic appearance from multi-view videos is an important foundational research problem in computer graphics and vision. Fueled by recent advances in…
Image-based virtual try-on aims to transfer an in-shop clothing image to a person image. Most existing methods adopt a single global deformation to perform clothing warping directly, which lacks fine-grained modeling of in-shop clothing and…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
Modeling the dynamics of deformable objects is challenging due to their diverse physical properties and the difficulty of estimating states from limited visual information. We address these challenges with a neural dynamics framework that…
Wearable e-textile interfaces require gesture recognition capabilities but face severe constraints in power consumption, computational capacity, and form factor that make traditional deep learning impractical. While lightweight…
Safe human-to-robot handovers of unknown objects require accurate estimation of hand poses and object properties, such as shape, trajectory, and weight. Accurately estimating these properties requires the use of scanned 3D object models or…
Palpation, the use of touch in medical examination, is almost exclusively performed by humans. We investigate a proof of concept for an artificial palpation method based on self-supervised learning. Our key idea is that an encoder-decoder…
The perception of an object's surface is important for robotic applications enabling robust object manipulation. The level of accuracy in such a representation affects the outcome of the action planning, especially during tasks that require…
Creating animatable avatars from static scans requires the modeling of clothing deformations in different poses. Existing learning-based methods typically add pose-dependent deformations upon a minimally-clothed mesh template or a learned…
Advances in 3D printing technology now enable the precise positioning of microscopic material voxels to form complex structures. Combined with emerging multi-material capabilities and printable responsive materials, this opens new…
Adversarial robustness in LiDAR-based 3D object detection is a critical research area due to its widespread application in real-world scenarios. While many digital attacks manipulate point clouds or meshes, they often lack physical…
This paper presents a novel decoder-based approach for generating manufacturable 3D structures optimized for additive manufacturing. We introduce a deep learning framework that decodes latent representations into geometrically valid,…
Deformable linear objects (e.g., cables, ropes, and threads) commonly appear in our everyday lives. However, perception of these objects and the study of physical interaction with them is still a growing area. There have already been…
Creating realistic virtual assets is a time-consuming process: it usually involves an artist designing the object, then spending a lot of effort on tweaking its appearance. Intricate details and certain effects, such as subsurface…
Many real-world hand-crafted objects are decorated with elements that are packed onto the object's surface and deformed to cover it as much as possible. Examples are artisanal ceramics and metal jewelry. Inspired by these objects, we…