相关论文: Sim2Real Neural Controllers for Physics-based Robo…

Tensegrity robots, composed of rigid rods and flexible cables, exhibit high strength-to-weight ratios and significant deformations, which enable them to navigate unstructured terrains and survive harsh impacts. They are hard to control,…

Deformable object manipulation (DOM) for robots has a wide range of applications in various fields such as industrial, service and health care sectors. However, compared to manipulation of rigid objects, DOM poses significant challenges for…

Accurately manipulating articulated objects is a challenging yet important task for real robot applications. In this paper, we present a novel framework called Sim2Real$^2$ to enable the robot to manipulate an unseen articulated object to…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

Many physical AI tasks are governed by implicit equilibrium: an agent actuates a subset of degrees of freedom (boundary DoFs), while the remaining free DoFs settle by minimizing a total potential energy. Even seemingly basic tasks such as…

Perception of deformable linear objects (DLOs), such as cables, ropes, and wires, is the cornerstone for successful downstream manipulation. Although vision-based methods have been extensively explored, they remain highly vulnerable to…

Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…

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…

Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable objects exhibit infinite dimensionality,…

Applications in fields ranging from home care to warehouse fulfillment to surgical assistance require robots to reliably manipulate the shape of 3D deformable objects. Analytic models of elastic, 3D deformable objects require numerous…

Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been…

We introduce NeuralMLS, a space-based deformation technique, guided by a set of displaced control points. We leverage the power of neural networks to inject the underlying shape geometry into the deformation parameters. The goal of our…

Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Deformable objects are common in our daily lives, e.g., wires, clothes, bed sheets, etc., and are…

Research in manipulation of deformable objects is typically conducted on a limited range of scenarios, because handling each scenario on hardware takes significant effort. Realistic simulators with support for various types of deformations…

The use of robotics in controlled environments has flourished over the last several decades and training robots to perform tasks using control strategies developed from dynamical models of their hardware have proven very effective. However,…

Learning dexterous manipulation skills is a long-standing challenge in computer graphics and robotics, especially when the task involves complex and delicate interactions between the hands, tools and objects. In this paper, we focus on…

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…

This paper describes a method for steering deformable linear objects using two robot hands in environments populated by sparsely spaced obstacles. The approach involves manipulating an elastic inextensible rod by varying the gripping…

Manipulating deformable linear objects by robots has a wide range of applications, e.g., manufacturing and medical surgery. To complete such tasks, an accurate dynamics model for predicting the deformation is critical for robust control. In…

While manipulating rigid objects is an extensively explored research topic, deformable linear object (DLO) manipulation seems significantly underdeveloped. A potential reason for this is the inherent difficulty in describing and observing…