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Tendon-driven musculoskeletal humanoids have many benefits in terms of the flexible spine, multiple degrees of freedom, and variable stiffness. At the same time, because of its body complexity, there are problems in controllability. First,…

We present PhysInOne, a large-scale synthetic dataset addressing the critical scarcity of physically-grounded training data for AI systems. Unlike existing datasets limited to merely hundreds or thousands of examples, PhysInOne provides 2…

Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…

Shape-morphing devices, a crucial branch in soft robotics, hold significant application value in areas like human-machine interfaces, biomimetic robotics, and tools for interacting with biological systems. To achieve three-dimensional (3D)…

We develop a new optimisation technique that combines multiresolution subdivision surfaces for boundary description with immersed finite elements for the discretisation of the primal and adjoint problems of optimisation. Similar to wavelets…

The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…

3D editing refers to the ability to apply local or global modifications to 3D assets. Effective 3D editing requires maintaining semantic consistency by performing localized changes according to prompts, while also preserving local…

Large-scale pretraining of visual representations has led to state-of-the-art performance on a range of benchmark computer vision tasks, yet the benefits of these techniques at extreme scale in complex production systems has been relatively…

With the rapid advancement of 2D generative models, preserving subject identity while enabling diverse editing has emerged as a critical research focus. Existing methods typically face inherent trade-offs between identity preservation and…

Emerging Metaverse applications demand reliable, accurate, and photorealistic reproductions of human hands to perform sophisticated operations as if in the physical world. While real human hand represents one of the most intricate…

This paper focuses on the challenging task of learning 3D object surface reconstructions from single RGB images. Existing methods achieve varying degrees of success by using different geometric representations. However, they all have their…

Controllable human image animation aims to generate videos from reference images using driving videos. Due to the limited control signals provided by sparse guidance (e.g., skeleton pose), recent works have attempted to introduce additional…

Accurate 3D shape abstraction from a single 2D image is a long-standing problem in computer vision and graphics. By leveraging a set of primitives to represent the target shape, recent methods have achieved promising results. However, these…

Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…

We address dynamic manipulation of deformable linear objects by presenting SPiD, a physics-informed self-supervised learning framework that couples an accurate deformable object model with an augmented self-supervised training strategy. On…

This paper proposes a new end-to-end neural rendering architecture to transfer appearance and reenact human actors. Our method leverages a carefully designed graph convolutional network (GCN) to model the human body manifold structure,…

3D modeling is moving from virtual to physical. Existing 3D generation primarily emphasizes geometries and textures while neglecting physical-grounded modeling. Consequently, despite the rapid development of 3D generative models, the…

In computer graphics, animation compression is essential for efficient storage, streaming and reproduction of animated meshes. Previous work has presented efficient techniques for compression by deriving skinning transformations and weights…

Generative AI has made rapid progress in text, image, and video synthesis, yet text-to-3D modeling for scientific design remains particularly challenging due to limited controllability and high computational cost. Most existing 3D…

Manipulation of facial images to meet specific controls such as pose, expression, and lighting, also known as face rigging, is a complex task in computer vision. Existing methods are limited by their reliance on image datasets, which…