Related papers: GraphGarment: Learning Garment Dynamics for Bimanu…

There is growing interest in automating agricultural tasks that require intricate and precise interaction with specialty crops, such as trees and vines. However, developing robotic solutions for crop manipulation remains a difficult…

Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work…

In this work a system for recognizing grasp points in RGB-D images is proposed. This system is intended to be used by a domestic robot when deploying clothes lying at a random position on a table. By taking into consideration that the grasp…

Clothes grasping and unfolding is a core step in robotic-assisted dressing. Most existing works leverage depth images of clothes to train a deep learning-based model to recognize suitable grasping points. These methods often utilize physics…

Per-garment virtual try-on methods collect garment-specific datasets and train networks tailored to each garment to achieve superior results. However, these approaches often struggle with loose-fitting garments due to two key limitations:…

Safety, reliability, and user trust are crucial in human-robot interaction (HRI) where the robots must address hazards in real-time. This study presents hazard driven low-level control strategies implemented in robot-assisted dressing (RAD)…

In this work, we present a reconfigurable data glove design to capture different modes of human hand-object interactions, which are critical in training embodied artificial intelligence (AI) agents for fine manipulation tasks. To achieve…

We present a self-supervised method to learn dynamic 3D deformations of garments worn by parametric human bodies. State-of-the-art data-driven approaches to model 3D garment deformations are trained using supervised strategies that require…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…

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…

The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…

We introduce Gaussian Garments, a novel approach for reconstructing realistic simulation-ready garment assets from multi-view videos. Our method represents garments with a combination of a 3D mesh and a Gaussian texture that encodes both…

Garment animation is ubiquitous in various applications, such as virtual reality, gaming, and film producing. Recently, learning-based approaches obtain compelling performance in animating diverse garments under versatile scenarios.…

Robotic grasping of 3D deformable objects is critical for real-world applications such as food handling and robotic surgery. Unlike rigid and articulated objects, 3D deformable objects have infinite degrees of freedom. Fully defining their…

We investigated the application of haptic feedback control and deep reinforcement learning (DRL) to robot-assisted dressing. Our method uses DRL to simultaneously train human and robot control policies as separate neural networks using…

Grasping objects is one of the most important abilities that a robot needs to master in order to interact with its environment. Current state-of-the-art methods rely on deep neural networks trained to jointly predict a graspability score…

We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…

To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner.…

Existing data-driven methods for garment animation, usually driven by linear skinning, although effective on tight garments, do not handle loose-fitting garments with complex deformations well. To address these limitations, we develop a…