相关论文: Learning Visible Connectivity Dynamics for Cloth S…

Self-occlusion is challenging for cloth manipulation, as it makes it difficult to estimate the full state of the cloth. Ideally, a robot trying to unfold a crumpled or folded cloth should be able to reason about the cloth's occluded…

Simulating particle dynamics with high fidelity is crucial for solving real-world interaction and control tasks involving liquids in design, graphics, and robotics. Recently, data-driven approaches, particularly those based on graph neural…

Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation…

Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…

Over the last years, significant advances have been made in robotic manipulation, but still, the handling of non-rigid objects, such as cloth garments, is an open problem. Physical interaction with non-rigid objects is uncertain and complex…

Human activity recognition has become an attractive research area with the development of on-body wearable sensing technology. With comfortable electronic-textiles, sensors can be embedded into clothing so that it is possible to record…

Robotic object rearrangement combines the skills of picking and placing objects. When object models are unavailable, typical collision-checking models may be unable to predict collisions in partial point clouds with occlusions, making…

Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…

Cloth manipulation is a ubiquitous task in everyday life, but it remains an open challenge for robotics. The difficulties in developing cloth manipulation policies are attributed to the high-dimensional state space, complex dynamics, and…

Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…

Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues…

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…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…

This paper presents a learning-based clothing animation method for highly efficient virtual try-on simulation. Given a garment, we preprocess a rich database of physically-based dressed character simulations, for multiple body shapes and…

Assistive robots should be able to wash, fold or iron clothes. However, due to the variety, deformability and self-occlusions of clothes, creating robot systems for cloth manipulation is challenging. Synthetic data is a promising direction…

Robotic cloth folding is a challenging task, particularly when considering dynamic folding tasks, which aim at folding cloth by fast motions that leverage its dynamics. When subject to such fast motions, the complexity of cloth dynamics…

Recent monocular human performance capture approaches have shown compelling dense tracking results of the full body from a single RGB camera. However, existing methods either do not estimate clothing at all or model cloth deformation with…

Robotic manipulation of cloth has applications ranging from fabrics manufacturing to handling blankets and laundry. Cloth manipulation is challenging for robots largely due to their high degrees of freedom, complex dynamics, and severe…

For machines to interact with the physical world, they must understand the physical properties of objects and materials they encounter. We use fabrics as an example of a deformable material with a rich set of mechanical properties. A thin…

Realistic dynamic garments on animated characters have many AR/VR applications. While authoring such dynamic garment geometry is still a challenging task, data-driven simulation provides an attractive alternative, especially if it can be…