Related papers: ContactSDF: Signed Distance Functions as Multi-Con…
Robotic dexterous manipulation requires continuously reconciling objectives and constraints defined on heterogeneous geometric spaces: a robot controlled on a $\mathbb{R}^7$ configuration manifold may need to track end effector poses on…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
Font design is of vital importance in the digital content design and modern printing industry. Developing algorithms capable of automatically synthesizing vector fonts can significantly facilitate the font design process. However, existing…
In human-robot collaboration, there has been a trade-off relationship between the speed of collaborative robots and the safety of human workers. In our previous paper, we introduced a time-optimal path tracking algorithm designed to…
In this paper, we tackle the task of scene-aware 3D human motion forecasting, which consists of predicting future human poses given a 3D scene and a past human motion. A key challenge of this task is to ensure consistency between the human…
In this work, we aim to learn dexterous manipulation of deformable objects using multi-fingered hands. Reinforcement learning approaches for dexterous rigid object manipulation would struggle in this setting due to the complexity of physics…
Simulating rigid-body dynamics with contact in a fast, massively vectorizable, and smoothly differentiable manner is highly desirable in robotics. An important bottleneck faced by existing differentiable simulation frameworks is contact…
Dynamic gestures enable the transfer of directive information to a robot. Moreover, the ability of a robot to recognize them from a long distance makes communication more effective and practical. However, current state-of-the-art models for…
High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…
A good representation of a large, complex mobile robot workspace must be space-efficient yet capable of encoding relevant geometric details. When exploring unknown environments, it needs to be updatable incrementally in an online fashion.…
Neural signed distance functions (SDFs) are emerging as an effective representation for 3D shapes. State-of-the-art methods typically encode the SDF with a large, fixed-size neural network to approximate complex shapes with implicit…
We propose an algorithm to reconstruct explicit polygonal meshes from discretely sampled Signed Distance Function (SDF) data, which is especially effective at recovering sharp features. Building on the traditional Dual Contouring of Hermite…
We introduce a new generative approach for synthesizing 3D geometry and images from single-view collections. Most existing approaches predict volumetric density to render multi-view consistent images. By employing volumetric rendering using…
In this letter, we investigate learning forward dynamics models and multi-step prediction of state variables (long-term prediction) for contact-rich manipulation. The problems are formulated in the context of model-based reinforcement…
We are seeing a Cambrian explosion of 3D shape representations for use in machine learning. Some representations seek high expressive power in capturing high-resolution detail. Other approaches seek to represent shapes as compositions of…
This paper proposes a new framework to design a controller for the dexterous manipulation of an object by a multi-fingered hand. To achieve a robust manipulation and wide range of operations, the uncertainties on the location of the contact…
In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene…
Learning fine-grained movements is a challenging topic in robotics, particularly in the context of robotic hands. One specific instance of this challenge is the acquisition of fingerspelling sign language in robots. In this paper, we…
What is a good local description of contact dynamics for contact-rich manipulation, and where can we trust this local description? While many approaches often rely on the Taylor approximation of dynamics with an ellipsoidal trust region, we…
Pressure Field Contact (PFC) was recently introduced as a method for detailed modeling of contact interface regions at rates much faster than elasticity-theory models, while at the same time predicting essential trends and capturing rich…