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

We present ClothCombo, a pipeline to drape arbitrary combinations of clothes on 3D human models with varying body shapes and poses. While existing learning-based approaches for draping clothes have shown promising results, multi-layered…

Differentiable physics modeling combines physics models with gradient-based learning to provide model explicability and data efficiency. It has been used to learn dynamics, solve inverse problems and facilitate design, and is at its…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

Learning dynamical systems from sparse observations is critical in numerous fields, including biology, finance, and physics. Even if tackling such problems is standard in general information fusion, it remains challenging for contemporary…

Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO:an implicit, multi-modal, and continuous representation for…

High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

We propose a method that leverages graph neural networks, multi-level message passing, and unsupervised training to enable real-time prediction of realistic clothing dynamics. Whereas existing methods based on linear blend skinning must be…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

The dynamic behavior of a partially wetting polymer droplet driven over a nanostructured interface is studied using molecular dynamics simulations. We consider the bead-spring model to represent a polymeric liquid that partially wets a…

Spatiotemporal dynamics models are fundamental for various domains, from heat propagation in materials to oceanic and atmospheric flows. However, currently available neural network-based spatiotemporal modeling approaches fall short when…

While visuomotor policy has made advancements in recent years, contact-rich tasks still remain a challenge. Robotic manipulation tasks that require continuous contact demand explicit handling of compliance and force. However, most…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

This paper presents Particle-based Object Manipulation (Prompt), a new approach to robot manipulation of novel objects ab initio, without prior object models or pre-training on a large object data set. The key element of Prompt is a…

Automating garment manipulation poses a significant challenge for assistive robotics due to the diverse and deformable nature of garments. Traditional approaches typically require separate models for each garment type, which limits…

To capture specific characteristics of non-Newtonian fluids, during the past years fractional constitutive models have become increasingly popular. These models are able to capture in a simple and compact way the complex behaviour of…

This paper presents a novel yet intuitive approach to unsupervised feature learning. Inspired by the human visual system, we explore whether low-level motion-based grouping cues can be used to learn an effective visual representation.…

Learning dynamical models from data plays a vital role in engineering design, optimization, and predictions. Building models describing dynamics of complex processes (e.g., weather dynamics, or reactive flows) using empirical knowledge or…

Tissue manipulation is a frequently used fundamental subtask of any surgical procedures, and in some cases it may require the involvement of a surgeon's assistant. The complex dynamics of soft tissue as an unstructured environment is one of…

We introduce latent intuitive physics, a transfer learning framework for physics simulation that can infer hidden properties of fluids from a single 3D video and simulate the observed fluid in novel scenes. Our key insight is to use latent…