Related papers: CloSE: A Geometric Shape-Agnostic Cloth State Repr…
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…
Creating fine garment details requires significant efforts and huge computational resources. In contrast, a coarse shape may be easy to acquire in many scenarios (e.g., via low-resolution physically-based simulation, linear blend skinning…
Identification of textile properties is an important milestone toward advanced robotic manipulation tasks that consider interaction with clothing items such as assisted dressing, laundry folding, automated sewing, textile recycling and…
Multi-step cloth manipulation is a challenging problem for robots due to the high-dimensional state spaces and the dynamics of cloth. Despite recent significant advances in end-to-end imitation learning for multi-step cloth manipulation…
Clay sculpting is a nuanced, artistic task involving dexterous manipulation with long-horizon planning to achieve high-level goals. As a robotics problem, we formulate clay sculpting as a shape-to-shape matching challenge. Prior deformable…
We describe a variant of the dressing method giving alternative representation of multidimensional nonlinear PDE as a system of Integro-Differential Equations (IDEs) for spectral and dressing functions. In particular, it becomes single…
This paper introduces DextAIRity, an approach to manipulate deformable objects using active airflow. In contrast to conventional contact-based quasi-static manipulations, DextAIRity allows the system to apply dense forces on out-of-contact…
Compliant and soft hands have gained a lot of attention in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for grasping. However, when it comes to grasping highly flexible…
Recent text-to-image diffusion models such as MidJourney and Stable Diffusion threaten to displace many in the professional artist community. In particular, models can learn to mimic the artistic style of specific artists after…
Shape retrieval and alignment are a promising avenue towards turning 3D scans into lightweight CAD representations that can be used for content creation such as mobile or AR/VR gaming scenarios. Unfortunately, CAD model retrieval is limited…
We present a new skeletal representation along with a matching framework to address the deformable shape recognition problem. The disconnectedness arises as a result of excessive regularization that we use to describe a shape at an…
The paper presents a micromechanical representation of deformation in 2D granular materials. The representation is a generalization of K. Bagi's work and is based upon the void-cell approach of M. Satake. The general representation applies…
A textile structure is a periodic arrangement of threads in the thickened plane. A topological classification of textile structures is harder than for classical knots and links that are non-periodic and restricted to a bounded region. The…
We present a general framework for the garment animation problem through unsupervised deep learning inspired in physically based simulation. Existing trends in the literature already explore this possibility. Nonetheless, these approaches…
Materials used in real clothing exhibit remarkable complexity and spatial variation due to common processes such as stitching, hemming, dyeing, printing, padding, and bonding. Simulating these materials, for instance using finite element…
Precise reconstruction and manipulation of the crumpled cloths is challenging due to the high dimensionality of cloth models, as well as the limited observation at self-occluded regions. We leverage the recent progress in the field of…
Efficient representation of articulated objects such as human bodies is an important problem in computer vision and graphics. To efficiently simulate deformation, existing approaches represent 3D objects using polygonal meshes and deform…
Implicit surface representations, such as signed-distance functions, combined with deep learning have led to impressive models which can represent detailed shapes of objects with arbitrary topology. Since a continuous function is learned,…
Image-based virtual try-on systems,which fit new garments onto human portraits,are gaining research attention.An ideal pipeline should preserve the static features of clothes(like textures and logos)while also generating dynamic…
In these lecture notes I give an introduction to deformation quantization. The quantization problem is discussed in some detail thereby motivating the notion of star products. Starting from a deformed observable algebra, i.e. the star…