相关论文: DeformerNet: Learning Bimanual Manipulation of 3D …

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…

Robotic manipulation of deformable objects is a difficult problem especially because of the complexity of the many different ways an object can deform. Searching such a high dimensional state space makes it difficult to recognize, track,…

Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…

The objective of this paper is 3D shape understanding from single and multiple images. To this end, we introduce a new deep-learning architecture and loss function, SilNet, that can handle multiple views in an order-agnostic manner. The…

3D shape models are naturally parameterized using vertices and faces, \ie, composed of polygons forming a surface. However, current 3D learning paradigms for predictive and generative tasks using convolutional neural networks focus on a…

Recently, deep-learning-based approaches have been widely studied for deformable image registration task. However, most efforts directly map the composite image representation to spatial transformation through the convolutional neural…

Spinal surgery planning necessitates automatic segmentation of vertebrae in cone-beam computed tomography (CBCT), an intraoperative imaging modality that is widely used in intervention. However, CBCT images are of low-quality and…

In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…

We propose a deep videorealistic 3D human character model displaying highly realistic shape, motion, and dynamic appearance learned in a new weakly supervised way from multi-view imagery. In contrast to previous work, our controllable 3D…

World models for deformable objects should recover not only geometry and appearance, but also underlying physical dynamics, interaction grounding, and material behavior. Learning such a model from real videos is challenging because…

In this paper, we present a synergic learning algorithm to address the task of indirect manipulation of an unknown deformable tissue. Tissue manipulation is a common yet challenging task in various surgical interventions, which makes it a…

The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…

Deformable linear objects (DLOs), such as rods, cables, and ropes, play important roles in daily life. However, manipulation of DLOs is challenging as large geometrically nonlinear deformations may occur during the manipulation process.…

Many applications in 3D shape design and augmentation require the ability to make specific edits to an object's semantic parameters (e.g., the pose of a person's arm or the length of an airplane's wing) while preserving as much existing…

The manipulation of deformable objects by robotic systems presents a significant challenge due to their complex and infinite-dimensional configuration spaces. This paper introduces a novel approach to Deformable Object Manipulation (DOM) by…

We propose a surface fitting method for unstructured 3D point clouds. This method, called DeepFit, incorporates a neural network to learn point-wise weights for weighted least squares polynomial surface fitting. The learned weights act as a…

Obtaining labelled data in medical image segmentation is challenging due to the need for pixel-level annotations by experts. Recent works have shown that augmenting the object of interest with deformable transformations can help mitigate…

Deformable solid objects such as clay or dough are prevalent in industrial and home environments. However, robotic manipulation of such objects has largely remained unexplored in literature due to the high complexity involved in…

The robotic manipulation of Deformable Linear Objects (DLOs) is a vital and challenging task that is important in many practical applications. Classical model-based approaches to this problem require an accurate model to capture how robot…

We present a novel learning framework for cloth deformation by embedding virtual cloth into a tetrahedral mesh that parametrizes the volumetric region of air surrounding the underlying body. In order to maintain this volumetric…