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Biologically inspired, from the early HMAX model to Spatial Pyramid Matching, pooling has played an important role in visual recognition pipelines. Spatial pooling, by grouping of local codes, equips these methods with a certain degree of…

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…

This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…

Deformable object manipulation remains a challenging task in robotics research. Conventional techniques for parameter inference and state estimation typically rely on a precise definition of the state space and its dynamics. While this is…

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…

Monocular 3D shape recovery is fundamental to geometric understanding, yet achieving robust generalization across arbitrary viewpoints and unseen object categories remains a significant challenge. In this paper, we present a generalizable…

Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…

Humans are capable of continuously manipulating a wide variety of deformable objects into complex shapes. This is made possible by our intuitive understanding of material properties and mechanics of the object, for reasoning about object…

Deformable object manipulation tasks have long been regarded as challenging robotic problems. However, until recently very little work has been done on the subject, with most robotic manipulation methods being developed for rigid objects.…

Deformable object manipulation presents a unique set of challenges in robotic manipulation by exhibiting high degrees of freedom and severe self-occlusion. State representation for materials that exhibit plastic behavior, like modeling clay…

Capsule networks aim to parse images into a hierarchy of objects, parts and relations. While promising, they remain limited by an inability to learn effective low level part descriptions. To address this issue we propose a way to learn…

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…

Understanding whether deep neural networks are effectively optimized remains challenging, as training occurs in highly nonconvex landscapes and standard metrics provide limited visibility into layer-wise learning quality. This challenge is…

In modern computer vision tasks, convolutional neural networks (CNNs) are indispensable for image classification tasks due to their efficiency and effectiveness. Part of their superiority compared to other architectures, comes from the fact…

Deformable object manipulation is critical to many real-world robotic applications, ranging from surgical robotics and soft material handling in manufacturing to household tasks like laundry folding. At the core of this important robotic…

The prediction of crystal properties is essential for understanding structure-property relationships and accelerating the discovery of functional materials. However, conventional approaches relying on experimental measurements or density…

While many image colorization algorithms have recently shown the capability of producing plausible color versions from gray-scale photographs, they still suffer from limited semantic understanding. To address this shortcoming, we propose to…

Goal-conditioned rearrangement of deformable objects (e.g. straightening a rope and folding a cloth) is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a prescribed goal…

Most of the classical denoising methods restore clear results by selecting and averaging pixels in the noisy input. Instead of relying on hand-crafted selecting and averaging strategies, we propose to explicitly learn this process with deep…

We present a Multi-Scale Pyramidal Pooling Network, featuring a novel pyramidal pooling layer at multiple scales and a novel encoding layer. Thanks to the former the network does not require all images of a given classification task to be…