Related papers: Automated Action Generation based on Action Field …
We present a novel motion generation approach for robot arms, with high degrees of freedom, in complex settings that can adapt online to obstacles or new via points. Learning from Demonstration facilitates rapid adaptation to new tasks and…
We present a real-time cloth animation method for dressing virtual humans of various shapes and poses. Our approach formulates the clothing deformation as a high-dimensional function of body shape parameters and pose parameters. In order to…
Robotic dressing assistance has the potential to improve the quality of life for individuals with limited mobility. Existing solutions predominantly rely on rigid robotic manipulators, which have challenges in handling deformable garments…
Mimicking realistic dynamics in 3D garment animations is a challenging task due to the complex nature of multi-layered garments and the variety of outer forces involved. Existing approaches mostly focus on single-layered garments driven by…
Recent work has shown that 2-arm "fling" motions can be effective for garment smoothing. We consider single-arm fling motions. Unlike 2-arm fling motions, which require little robot trajectory parameter tuning, single-arm fling motions are…
Much progress has been made in reconstructing garments from an image or a video. However, none of existing works meet the expectations of digitizing high-quality animatable dynamic garments that can be adjusted to various unseen poses. In…
Robotic cloth manipulation is a relevant challenging problem for autonomous robotic systems. Highly deformable objects as textile items can adopt multiple configurations and shapes during their manipulation. Hence, robots should not only…
We present a Garment Similarity Network (GarNet) that learns geometric and physical similarities between known garments by continuously observing a garment while a robot picks it up from a table. The aim is to capture and encode geometric…
Robot-assisted dressing is a popular but challenging topic in the field of robotic manipulation, offering significant potential to improve the quality of life for individuals with mobility limitations. Currently, the majority of research on…
Deep learning-based robotic grasping has made significant progress thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object…
We present a novel method to generate accurate and realistic clothing deformation from real data capture. Previous methods for realistic cloth modeling mainly rely on intensive computation of physics-based simulation (with numerous…
We introduce a neural network approach for generating and customizing the trajectory of a robotic arm, that guarantees precision and repeatability. To highlight the potential of this novel method, we describe the design and implementation…
We present RoboGen, a generative robotic agent that automatically learns diverse robotic skills at scale via generative simulation. RoboGen leverages the latest advancements in foundation and generative models. Instead of directly using or…
Robotic grasping is a fundamental skill required for object manipulation in robotics. Multi-fingered robotic hands, which mimic the structure of the human hand, can potentially perform complex object manipulation. Nevertheless, current…
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…
We have recently seen great progress in building photorealistic animatable full-body codec avatars, but generating high-fidelity animation of clothing is still difficult. To address these difficulties, we propose a method to build an…
Object manipulation is a natural activity we perform every day. How humans handle objects can communicate not only the willfulness of the acting, or key aspects of the context where we operate, but also the properties of the objects…
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…
Due to the rapid temporal and fine-grained nature of complex human assembly atomic actions, traditional action segmentation approaches requiring the spatial (and often temporal) down sampling of video frames often loose vital fine-grained…
Detecting manipulated images has become a significant emerging challenge. The advent of image sharing platforms and the easy availability of advanced photo editing software have resulted in a large quantities of manipulated images being…