Related papers: PROD: Palpative Reconstruction of Deformable Objec…
Reconstructing objects with realistic materials from multi-view images is problematic, since it is highly ill-posed. Although the neural reconstruction approaches have exhibited impressive reconstruction ability, they are designed for…
Reconstructing hand-held objects from a single RGB image is an important and challenging problem. Existing works utilizing Signed Distance Fields (SDF) reveal limitations in comprehensively capturing the complex hand-object interactions,…
In minimal invasive surgery, it is important to rebuild and visualize the latest deformed shape of soft-tissue surfaces to mitigate tissue damages. This paper proposes an innovative Simultaneous Localization and Mapping (SLAM) algorithm for…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…
Single view-based reconstruction of hand-object interaction is challenging due to the severe observation missing caused by occlusions. This paper proposes a physics-based method to better solve the ambiguities in the reconstruction. It…
Tissue deformation in ultrasound (US) imaging leads to geometrical errors when measuring tissues due to the pressure exerted by probes. Such deformation has an even larger effect on 3D US volumes as the correct compounding is limited by the…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
While existing methods for reconstructing hand-object interactions have made impressive progress, they either focus on rigid or part-wise rigid objects-limiting their ability to model real-world objects (e.g., cloth, stuffed animals) that…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
In this paper, we propose ContactSDF, a method that uses signed distance functions (SDFs) to approximate multi-contact models, including both collision detection and time-stepping routines. ContactSDF first establishes an SDF using the…
Conventional soft pneumatic actuators, typically based on hollow elastomeric chambers, often suffer from small structural support and require costly geometry-specific redesigns for multimodal functionality. Porous materials such as foam,…
Articulated objects exist widely in the real world. However, previous 3D generative methods for unsupervised part decomposition are unsuitable for such objects, because they assume a spatially fixed part location, resulting in inconsistent…
In this study the possibility of combining commercial Scanning Force Microscopes (SFM) with stretching devices for the investigation of microscopic surface changes during stepwise elongation is investigated. Different types of stretching…
Implicit shape representation, such as SDFs, is a popular approach to recover the surface of a 3D shape as the level sets of a scalar field. Several methods approximate SDFs using machine learning strategies that exploit the knowledge that…
We present learning-based implicit shape representations designed for real-time avatar collision queries arising in the simulation of clothing. Signed distance functions (SDFs) have been used for such queries for many years due to their…
Signed distance fields (SDFs) are a widely used implicit surface representation, with broad applications in computer graphics, computer vision, and applied mathematics. To reconstruct an explicit triangle mesh surface corresponding to an…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…