相关论文: Integrated Object Deformation and Contact Patch Es…

Neural representations are popular for representing shapes, as they can be learned form sensor data and used for data cleanup, model completion, shape editing, and shape synthesis. Current neural representations can be categorized as either…

In this paper, we introduce a new method for the task of interaction transfer. Given an example interaction between a source object and an agent, our method can automatically infer both surface and spatial relationships for the agent and…

Object pose estimation is a prominent task in computer vision. The object pose gives the orientation and translation of the object in real-world space, which allows various applications such as manipulation, augmented reality, etc. Various…

Humans can quickly determine the force required to grasp a deformable object to prevent its sliding or excessive deformation through vision and touch, which is still a challenging task for robots. To address this issue, we propose a novel…

Neural shape models can represent complex 3D shapes with a compact latent space. When applied to dynamically deforming shapes such as the human hands, however, they would need to preserve temporal coherence of the deformation as well as the…

Recovering the physical attributes of an object's appearance from its images captured under an unknown illumination is challenging yet essential for photo-realistic rendering. Recent approaches adopt the emerging implicit scene…

Inverse rendering aims to reconstruct the scene properties of objects solely from multiview images. However, it is an ill-posed problem prone to producing ambiguous estimations deviating from physically accurate representations. In this…

In recent years, implicit surface representations through neural networks that encode the signed distance have gained popularity and have achieved state-of-the-art results in various tasks (e.g. shape representation, shape reconstruction,…

Neural networks that map 3D coordinates to signed distance function (SDF) or occupancy values have enabled high-fidelity implicit representations of object shape. This paper develops a new shape model that allows synthesizing novel distance…

Curved objects pose a fundamental challenge for skill transfer in robotics: unlike planar surfaces, they do not admit a global reference frame. As a result, task-relevant directions such as "toward" or "along" the surface vary with position…

Deep implicit functions (DIFs), as a kind of 3D shape representation, are becoming more and more popular in the 3D vision community due to their compactness and strong representation power. However, unlike polygon mesh-based templates, it…

This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…

Estimating correspondences between pairs of deformable shapes remains a challenging problem. Despite substantial progress, existing methods lack broad generalization capabilities and require category-specific training data. To address these…

Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…

Visuotactile sensors are a popular tactile sensing strategy due to high-fidelity estimates of local object geometry. However, existing algorithms for processing raw sensor inputs to useful intermediate signals such as contact patches…

Monocular 3D shape recovery is fundamental to geometric understanding, yet achieving robust generalization across arbitrary viewpoints and unseen object categories remains a significant challenge. In this paper, we present a generalizable…

Estimating correspondences between deformed shape instances is a long-standing problem in computer graphics; numerous applications, from texture transfer to statistical modelling, rely on recovering an accurate correspondence map. Many…

Existing point cloud representation learning methods primarily rely on data-driven strategies to extract geometric information from large amounts of scattered data. However, most methods focus solely on the spatial distribution features of…

Transformer has achieved great success in computer vision, while how to split patches in an image remains a problem. Existing methods usually use a fixed-size patch embedding which might destroy the semantics of objects. To address this…

We address the problem of tracking 3D object poses from touch during in-hand manipulations. Specifically, we look at tracking small objects using vision-based tactile sensors that provide high-dimensional tactile image measurements at the…