相关论文: Semantic State Estimation in Cloth Manipulation Ta…

Neural networks have greatly boosted performance in computer vision by learning powerful representations of input data. The drawback of end-to-end training for maximal overall performance are black-box models whose hidden representations…

Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…

Automated sorting is crucial for improving the efficiency and scalability of textile recycling, but accurately identifying material composition and detecting contaminants from sensor data remains challenging. This paper investigates the use…

Even as deep neural networks have become very effective for tasks in vision and perception, it remains difficult to explain and debug their behavior. In this paper, we present a programmatic and semantic approach to explaining,…

Delicate cloth simulations have long been desired in computer graphics. Various methods were proposed to improve engaged force interactions, collision handling, and numerical integrations. Deep learning has the potential to achieve fast and…

Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…

Discovering governing equations of complex network dynamics is a fundamental challenge in contemporary science with rich data, which can uncover the mysterious patterns and mechanisms of the formation and evolution of complex phenomena in…

We present Flat'n'Fold, a novel large-scale dataset for garment manipulation that addresses critical gaps in existing datasets. Comprising 1,212 human and 887 robot demonstrations of flattening and folding 44 unique garments across 8…

The integration of RGB and thermal data can significantly improve semantic segmentation performance in wild environments for field robots. Nevertheless, multi-source data processing (e.g. Transformer-based approaches) imposes significant…

Recent advances in data-driven models for grounded language understanding have enabled robots to interpret increasingly complex instructions. Two fundamental limitations of these methods are that most require a full model of the environment…

Robots that interact with humans in a physical space or application need to think about the person's posture, which typically comes from visual sensors like cameras and infra-red. Artificial intelligence and machine learning algorithms use…

With the aim of creating virtual cloth deformations more similar to real world clothing, we propose a new computational framework that recasts three dimensional cloth deformation as an RGB image in a two dimensional pattern space. Then a…

Garment representation, editing and animation are challenging topics in the area of computer vision and graphics. It remains difficult for existing garment representations to achieve smooth and plausible transitions between different shapes…

Semantic image and video segmentation stand among the most important tasks in computer vision nowadays, since they provide a complete and meaningful representation of the environment by means of a dense classification of the pixels in a…

3D Cloth modeling and simulation is essential for avatars creation in several fields, such as fashion, entertainment, and animation. Achieving high-quality results is challenging due to the large variability of clothed body especially in…

Goal-conditioned rearrangement of deformable objects (e.g. straightening a rope and folding a cloth) is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a prescribed goal…

Estimating robot pose from RGB images is a crucial problem in computer vision and robotics. While previous methods have achieved promising performance, most of them presume full knowledge of robot internal states, e.g. ground-truth robot…

The semantic segmentation of skin lesions is an important and common initial task in the computer aided diagnosis of dermoscopic images. Although deep learning-based approaches have considerably improved the segmentation accuracy, there is…

Large language models (LLMs) are increasingly used in situations where human values are at stake, such as decision-making tasks that involve reasoning when performed by humans. We investigate the so-called reasoning capabilities of LLMs…

Recent progress in large language models (LLMs) has demonstrated the ability to learn and leverage Internet-scale knowledge through pre-training with autoregressive models. Unfortunately, applying such models to settings with embodied…