Related papers: Toward Ubiquitous 3D Object Digitization: A Wearab…
Structured 3D representations such as keypoints and meshes offer compact, expressive descriptions of deformable objects, jointly capturing geometric and topological information useful for downstream tasks such as dynamics modeling and…
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…
The ability to interact and understand the environment is a fundamental prerequisite for a wide range of applications from robotics to augmented reality. In particular, predicting how deformable objects will react to applied forces in real…
Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…
In this paper, we develop a robust 3D garment digitization solution that can generalize well on real-world fashion catalog images with cloth texture occlusions and large body pose variations. We assumed fixed topology parametric template…
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…
Wearable electronics are emerging as essential tools for health monitoring, haptic feedback, and human-computer interactions. While stable contact at the device-body interface is critical for these applications, it remains challenging due…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
We address the problem of aligning real-world 3D data of garments, which benefits many applications such as texture learning, physical parameter estimation, generative modeling of garments, etc. Existing extrinsic methods typically perform…
With the aim of creating virtual cloth deformations more similar to real world clothing, we propose a new computational framework that recasts three dimensional cloth deformation as an RGB image in a two dimensional pattern space. Then a…
Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…
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…
The proliferation of 3D representations, from explicit meshes to implicit neural fields and more, motivates the need for simulators agnostic to representation. We present a data-, mesh-, and grid-free solution for elastic simulation for any…
Recent monocular human performance capture approaches have shown compelling dense tracking results of the full body from a single RGB camera. However, existing methods either do not estimate clothing at all or model cloth deformation with…
The availability of affordable and portable depth sensors has made scanning objects and people simpler than ever. However, dealing with occlusions and missing parts is still a significant challenge. The problem of reconstructing a (possibly…
Spatial tactile feedback can enhance the realism of geometry exploration in virtual reality applications. Current vibrotactile approaches often face challenges with the spatial and temporal resolution needed to render different 3D…
This paper proposes a fully decentralized and recursive approach to online identification of unknown kinematic and dynamic parameters for cooperative manipulation of a rigid body based on commonly used local measurements. To the best of our…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…