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Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
While recent advances in virtual try-on (VTON) have achieved realistic garment transfer to human subjects, its inverse task, virtual try-off (VTOFF), which aims to reconstruct canonical garment templates from dressed humans, remains…
Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…
Humans make extensive use of vision and touch as complementary senses, with vision providing global information about the scene and touch measuring local information during manipulation without suffering from occlusions. While prior work…
We present a novel approach for robust manipulation of high-DOF deformable objects such as cloth. Our approach uses a random forest-based controller that maps the observed visual features of the cloth to an optimal control action of the…
Manipulating clothing is challenging due to complex configurations, variable material dynamics, and frequent self-occlusion. Prior systems often flatten garments or assume visibility of key features. We present a dual-arm visuotactile…
Bagging tasks, commonly found in industrial scenarios, are challenging considering deformable bags' complicated and unpredictable nature. This paper presents an automated bagging system from the proposed adaptive Structure-of-Interest (SOI)…
This paper presents a direct 3D visual servo scheme for the automatic alignment of point clouds (respectively, objects) using visual information in the spectral domain. Specifically, we propose an alignment method for 3D models/point clouds…
Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…
Classification and localization of driving actions over time is important for advanced driver-assistance systems and naturalistic driving studies. Temporal localization is challenging because it requires robustness, reliability, and…
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…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Masked image modeling (MIM) has emerged as a promising approach for pre-training Vision Transformers (ViTs). MIMs predict masked tokens token-wise to recover target signals that are tokenized from images or generated by pre-trained models…
Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…
We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…
Virtual clothes try-on has emerged as a vital feature in online shopping, offering consumers a critical tool to visualize how clothing fits. In our research, we introduce an innovative approach for virtual clothes try-on, utilizing a…
The increasing demand for sustainable textile recycling requires robust automation solutions capable of handling deformable garments and detecting foreign objects in cluttered environments. This work presents a digital twin driven robotic…
Manipulation of elastoplastic objects like dough often involves topological changes such as splitting and merging. The ability to accurately predict these topological changes that a specific action might incur is critical for planning…