相关论文: 3D-PhysNet: Learning the Intuitive Physics of Non-…

In this paper, we study the challenging problem of predicting the dynamics of objects in static images. Given a query object in an image, our goal is to provide a physical understanding of the object in terms of the forces acting upon it…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

This study presents a rigid-deformation decomposition framework for vehicle collision dynamics that mitigates the spectral bias of implicit neural representations, that is, coordinate-based neural networks that directly map spatio-temporal…

Deep learning surrogate models are being increasingly used in accelerating scientific simulations as a replacement for costly conventional numerical techniques. However, their use remains a significant challenge when dealing with real-world…

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. Developmental…

Deep learning is emerging as a new paradigm for solving inverse imaging problems. However, the deep learning methods often lack the assurance of traditional physics-based methods due to the lack of physical information considerations in…

The task of shape abstraction with semantic part consistency is challenging due to the complex geometries of natural objects. Recent methods learn to represent an object shape using a set of simple primitives to fit the target.…

Recently, physics informed neural networks have successfully been applied to a broad variety of problems in applied mathematics and engineering. The principle idea is to use a neural network as a global ansatz function to partial…

Modeling the dynamics of deformable objects is challenging due to their diverse physical properties and the difficulty of estimating states from limited visual information. We address these challenges with a neural dynamics framework that…

We present a new deep learning approach for matching deformable shapes by introducing {\it Shape Deformation Networks} which jointly encode 3D shapes and correspondences. This is achieved by factoring the surface representation into (i) a…

Physics-based simulation of mesh based domains remains a challenging task. State-of-the-art techniques can produce realistic results but require expert knowledge. A major bottleneck in many approaches is the step of integrating a potential…

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…

This work introduces an analytical approach for detecting and estimating external forces acting on deformable linear objects (DLOs) using only their observed shapes. In many robot-wire interaction tasks, contact occurs not at the…

Existing point cloud representation learning methods primarily rely on data-driven strategies to extract geometric information from large amounts of scattered data. However, most methods focus solely on the spatial distribution features of…

Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…

This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…

Any solid object can be decomposed into a collection of convex polytopes (in short, convexes). When a small number of convexes are used, such a decomposition can be thought of as a piece-wise approximation of the geometry. This…

We propose a novel framework for training neural networks which is capable of learning 3D information of non-rigid objects when only 2D annotations are available as ground truths. Recently, there have been some approaches that incorporate…

This study investigates the application of deep residual networks for predicting the dynamics of interacting three-dimensional rigid bodies. We present a framework combining a 3D physics simulator implemented in C++ with a deep learning…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…