相关论文: Cloth Funnels: Canonicalized-Alignment for Multi-P…

Learning from Interactive Demonstrations has revolutionized the way non-expert humans teach robots. It is enough to kinesthetically move the robot around to teach pick-and-place, dressing, or cleaning policies. However, the main challenge…

Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…

ControlNet has enabled detailed spatial control in text-to-image diffusion models by incorporating additional visual conditions such as depth or edge maps. However, its effectiveness heavily depends on the availability of visual conditions…

Automata learning is a technique that has successfully been applied in verification, with the automaton type varying depending on the application domain. Adaptations of automata learning algorithms for increasingly complex types of automata…

Blanking processes belong to the most widely used manufacturing techniques due to their economic efficiency. Their economic viability depends to a large extent on the resulting product quality and the associated customer satisfaction as…

Effectively integrating diverse sensory modalities is crucial for robotic manipulation. However, the typical approach of feature concatenation is often suboptimal: dominant modalities such as vision can overwhelm sparse but critical signals…

Fashion recommendation systems are highly desired by customers to find visually-collocated fashion items, such as clothes, shoes, bags, etc. While existing methods demonstrate promising results, they remain lacking in flexibility and…

In this work, we propose and address a new computer vision task, which we call fashion item detection, where the aim is to detect various fashion items a person in the image is wearing or carrying. The types of fashion items we consider in…

We present a novel method for generating 3D garment deformations from given body poses, which is key to a wide range of applications, including virtual try-on and extended reality. To simplify the cloth dynamics, existing methods mostly…

Clay sculpting is a nuanced, artistic task involving dexterous manipulation with long-horizon planning to achieve high-level goals. As a robotics problem, we formulate clay sculpting as a shape-to-shape matching challenge. Prior deformable…

Efficiently merging several models fine-tuned for different tasks, but stemming from the same pretrained base model, is of great practical interest. Despite extensive prior work, most evaluations of model merging in computer vision are…

Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…

Symmetry-based neural networks often constrain the architecture in order to achieve invariance or equivariance to a group of transformations. In this paper, we propose an alternative that avoids this architectural constraint by learning to…

Manifold learning flows are a class of generative modelling techniques that assume a low-dimensional manifold description of the data. The embedding of such a manifold into the high-dimensional space of the data is achieved via learnable…

We present a deep learning method for composite and task-driven motion control for physically simulated characters. In contrast to existing data-driven approaches using reinforcement learning that imitate full-body motions, we learn…

The field of fashion compatibility learning has attracted great attention from both the academic and industrial communities in recent years. Many studies have been carried out for fashion compatibility prediction, collocated outfit…

Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

Many machine learning models leverage group invariance which is enjoyed with a wide-range of applications. For exploiting an invariance structure, one common approach is known as \emph{frame averaging}. One popular example of frame…

Deep learning has demonstrated remarkable capabilities in simulating complex dynamic systems. However, existing methods require known physical properties as supervision or inputs, limiting their applicability under unknown conditions. To…