相关论文: Vision-based Manipulation of Deformable and Rigid …

Much progress has been made in the supervised learning of 3D reconstruction of rigid objects from multi-view images or a video. However, it is more challenging to reconstruct severely deformed objects from a single-view RGB image in an…

Many methods exist to model and track deformable one-dimensional objects (e.g., cables, ropes, and threads) across a stream of video frames. However, these methods depend on the existence of some initial conditions. To the best of our…

We address the challenge of learning to manipulate deformable objects with unknown dynamics. In non-rigid objects, the dynamics parameters define how they react to interactions -- how they stretch, bend, compress, and move -- and they are…

Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…

In this paper, we propose a general unified tracking-servoing approach for controlling the shape of elastic deformable objects using robotic arms. Our approach works by forming a lattice around the object, binding the object to the lattice,…

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…

Manipulating three-dimensional (3D) deformable objects presents significant challenges for robotic systems due to their infinite-dimensional state space and complex deformable dynamics. This paper proposes a novel model-free approach for…

We propose a neural network-based approach for collision detection with deformable objects. Unlike previous approaches based on bounding volume hierarchies, our neural approach does not require an update of the spatial data structure when…

We propose DINOBot, a novel imitation learning framework for robot manipulation, which leverages the image-level and pixel-level capabilities of features extracted from Vision Transformers trained with DINO. When interacting with a novel…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

Visual reconstruction of fast non-rigid object deformations over time is a challenge for conventional frame-based cameras. In this paper, we propose a novel approach for reconstructing such deformations using measurements from event-based…

Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

Object recognition is a key function in both human and machine vision. While recent studies have achieved fMRI decoding of seen and imagined contents, the prediction is limited to training examples. We present a decoding approach for…

In this paper, we consider the problem of understanding the physical properties of unseen objects through interactions between the objects and a robot. Handling unseen objects with special properties such as deformability is challenging for…

The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various…

Humans can easily understand a single image as depicting multiple potential objects permitting interaction. We use this skill to plan our interactions with the world and accelerate understanding new objects without engaging in interaction.…

Learning robotic manipulation skills from vision is a promising approach for developing robotics applications that can generalize broadly to real-world scenarios. As such, many approaches to enable this vision have been explored with…

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…

Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…