Related papers: Toward Ubiquitous 3D Object Digitization: A Wearab…

We present a physics-based framework to simulate porous, deformable materials and interactive tools with haptic feedback that can reshape it. In order to allow the material to be moulded non-homogeneously, we propose an algorithm to change…

This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using a novel and low-cost data collection platform with a…

Learning to model and reconstruct humans in clothing is challenging due to articulation, non-rigid deformation, and varying clothing types and topologies. To enable learning, the choice of representation is the key. Recent work uses neural…

This paper studies the problem of estimating physical properties (system identification) through visual observations. To facilitate geometry-aware guidance in physical property estimation, we introduce a novel hybrid framework that…

We propose a deep videorealistic 3D human character model displaying highly realistic shape, motion, and dynamic appearance learned in a new weakly supervised way from multi-view imagery. In contrast to previous work, our controllable 3D…

In this paper, we consider the problem of understanding the physical properties of unseen objects through interactions between the objects and a robot. Handling unseen objects with special properties such as deformability is challenging for…

Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…

Interactable objects are ubiquitous in our daily lives. Recent advances in 3D generative models make it possible to automate the modeling of these objects, benefiting a range of applications from 3D printing to the creation of robot…

Humans can quickly determine the force required to grasp a deformable object to prevent its sliding or excessive deformation through vision and touch, which is still a challenging task for robots. To address this issue, we propose a novel…

Grasp synthesis for 3D deformable objects remains a little-explored topic, most works aiming to minimize deformations. However, deformations are not necessarily harmful -- humans are, for example, able to exploit deformations to generate…

Understanding and manipulating deformable objects (e.g., ropes and fabrics) is an essential yet challenging task with broad applications. Difficulties come from complex states and dynamics, diverse configurations and high-dimensional action…

A complete representation of 3D objects requires characterizing the space of deformations in an interpretable manner, from articulations of a single instance to changes in shape across categories. In this work, we improve on a prior…

Modeling the shape of garments has received much attention, but most existing approaches assume the garments to be worn by someone, which constrains the range of shapes they can assume. In this work, we address shape recovery when garments…

Realistic dynamic garments on animated characters have many AR/VR applications. While authoring such dynamic garment geometry is still a challenging task, data-driven simulation provides an attractive alternative, especially if it can be…

Despite the advances in extracting local features achieved by handcrafted and learning-based descriptors, they are still limited by the lack of invariance to non-rigid transformations. In this paper, we present a new approach to compute…

Achieving diverse and stable dexterous grasping for general and deformable objects remains a fundamental challenge in robotics, due to high-dimensional action spaces and uncertainty in perception. In this paper, we present D3Grasp, a…

Generating realistic clothing for virtual applications like online retail and digital avatars is crucial but requires expert knowledge of 3D tools to generating believable simulations. Recently, a number of works proposed to estimate cloth…

Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…

Large vision models based in deep learning architectures have been consistently advancing the state-of-the-art in biometric recognition. However, three weaknesses are commonly reported for such kind of approaches: 1) their extreme demands…

We propose a new method for cloth digitalization. Deviating from existing methods which learn from data captured under relatively casual settings, we propose to learn from data captured in strictly tested measuring protocols, and find…