Related papers: RoboHanger: Learning Generalizable Robotic Hanger …
Automating a robotic task, e.g., robotic suturing can be very complex and time-consuming. Learning a task model to autonomously perform the task is invaluable making the technology, robotic surgery, accessible for a wider community. The…
In this paper, we present a method of clothes retargeting; generating the potential poses and deformations of a given 3D clothing template model to fit onto a person in a single RGB image. The problem is fundamentally ill-posed as attaining…
Grasping an object when it is in an ungraspable pose is a challenging task, such as books or other large flat objects placed horizontally on a table. Inspired by human manipulation, we address this problem by pushing the object to the edge…
As the population continues to age, a shortage of caregivers is expected in the future. Dressing assistance, in particular, is crucial for opportunities for social participation. Especially dressing close-fitting garments, such as socks,…
Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…
Despite recent progress in developing animatable full-body avatars, realistic modeling of clothing - one of the core aspects of human self-expression - remains an open challenge. State-of-the-art physical simulation methods can generate…
Developing autonomous assistants to help with domestic tasks is a vital topic in robotics research. Among these tasks, garment folding is one of them that is still far from being achieved mainly due to the large number of possible…
Animatable clothing transfer, aiming at dressing and animating garments across characters, is a challenging problem. Most human avatar works entangle the representations of the human body and clothing together, which leads to difficulties…
Fabric manipulation is a long-standing challenge in robotics due to the enormous state space and complex dynamics. Learning approaches stand out as promising for this domain as they allow us to learn behaviours directly from data. Most…
Estimating physically accurate, simulation-ready garments from a single image is challenging due to the absence of image-to-physics datasets and the ill-posed nature of this problem. Prior methods either require multi-view capture and…
Comparing robotic cloth-manipulation systems in a real-world setup is challenging. The fidelity gap between simulation-trained cloth neural controllers and real-world operation hinders the reliable deployment of these methods in physical…
A vital task of the wider digital human effort is the creation of realistic garments on digital avatars, both in the form of characteristic fold patterns and wrinkles in static frames as well as richness of garment dynamics under avatars'…
Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…
Humans have exceptional tactile sensing capabilities, which they can leverage to solve challenging, partially observable tasks that cannot be solved from visual observation alone. Research in tactile sensing attempts to unlock this new…
Outfits in online fashion data are composed of items of many different types (e.g. top, bottom, shoes) that share some stylistic relationship with one another. A representation for building outfits requires a method that can learn both…
Robotic insertion tasks are characterized by contact and friction mechanics, making them challenging for conventional feedback control methods due to unmodeled physical effects. Reinforcement learning (RL) is a promising approach for…
This paper presents a learning-based clothing animation method for highly efficient virtual try-on simulation. Given a garment, we preprocess a rich database of physically-based dressed character simulations, for multiple body shapes and…
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…
Augmented reality applications have rapidly spread across online platforms, allowing consumers to virtually try-on a variety of products, such as makeup, hair dying, or shoes. However, parametrizing a renderer to synthesize realistic images…
Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape. In this paper, we develop a robotic assembly simulation environment for furniture assembly. We formulate the…