Related papers: KnotDLO: Toward Interpretable Knot Tying
Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to…
Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Current methods that use pneumatic grippers to handle deformable…
Dexterous in-hand manipulation for a multi-fingered anthropomorphic hand is extremely difficult because of the high-dimensional state and action spaces, rich contact patterns between the fingers and objects. Even though deep reinforcement…
In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…
Learning dexterous manipulation skills is a long-standing challenge in computer graphics and robotics, especially when the task involves complex and delicate interactions between the hands, tools and objects. In this paper, we focus on…
Trilevel learning, also called trilevel optimization (TLO), has been recognized as a powerful modelling tool for hierarchical decision process and widely applied in many machine learning applications, such as robust neural architecture…
Deep neural networks are rapidly emerging as data analysis tools, often outperforming the conventional techniques used in complex microfluidic systems. One fundamental analysis frequently desired in microfluidic experiments is counting and…
Knots are familiar entities that appear at a captivating nexus of art, technology, mathematics, and science. As topologically stable objects within field theories, they have been speculatively proposed as explanations for diverse persistent…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
A {\it stuck knot} is a knot diagram containing designated crossings, called {\it stuck crossings}, whose incident strands are required to remain locally non-separable. These rigidity constraints restrict the allowable ambient isotopies and…
In this work, we propose a disentangled latent optimization-based method for parameterizing grouped deforming 3D objects into shape and deformation factors in an unsupervised manner. Our approach involves the joint optimization of a…
A physical interpretation of the rope simulated by the SONO algorithm is presented. Properties of the tight polygonal knots delivered by the algorithm are analyzed. An algorithm for bounding the ropelength of a smooth inscribed knot is…
Grasping large flat objects, such as books or keyboards lying horizontally, presents significant challenges for single-arm robotic systems, often requiring extra actions like pushing objects against walls or moving them to the edge of a…
We introduce the problem of knot-based inverse perceptual art. Given multiple target images and their corresponding viewing configurations, the objective is to find a 3D knot-based tubular structure whose appearance resembles the target…
We study the problem of learning graph dynamics of deformable objects that generalizes to unknown physical properties. Our key insight is to leverage a latent representation of elastic physical properties of cloth-like deformable objects…
Understanding and manipulating deformable objects (e.g., ropes and fabrics) is an essential yet challenging task with broad applications. Difficulties come from complex states and dynamics, diverse configurations and high-dimensional action…
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…
This is a report on our ongoing research on a combinatorial approach to knot recognition, using coloring of knots by certain algebraic objects called quandles. The aim of the paper is to summarize the mathematical theory of knot coloring in…
Building on recent advancements in transformer based approaches for domestic robots performing knolling, the art of organizing scattered items into neat arrangements. This paper introduces Knolling bot 2.0. Recognizing the challenges posed…
Quantification of microscopy time-series of in vitro reconstituted motor driven microtubule (MT) transport in 'gliding assays' is typically performed using computational object tracking tools. However, these are limited to non-intersecting…