相关论文: Learning Keypoints for Robotic Cloth Manipulation …

Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…

Cloth folding is a complex task due to the inevitable self-occlusions of clothes, their complicated dynamics, and the disparate materials, geometries, and textures that garments can have. In this work, we learn folding actions conditioned…

Object grasping is a fundamental challenge in robotics and computer vision, critical for advancing robotic manipulation capabilities. Deformable objects, like fabrics and cloths, pose additional challenges due to their non-rigid nature. In…

Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…

We propose a novel approach to synthesizing images that are effective for training object detectors. Starting from a small set of real images, our algorithm estimates the rendering parameters required to synthesize similar images given a…

Data collection has become an increasingly important problem in robotic manipulation, yet there still lacks much understanding of how to effectively collect data to facilitate broad generalization. Recent works on large-scale robotic data…

Despite great success in human parsing, progress for parsing other deformable articulated objects, like animals, is still limited by the lack of labeled data. In this paper, we use synthetic images and ground truth generated from CAD animal…

A major limitation to advances in fingerprint spoof detection is the lack of publicly available, large-scale fingerprint spoof datasets, a problem which has been compounded by increased concerns surrounding privacy and security of biometric…

We propose a method to estimate the mechanical parameters of fabrics using a casual capture setup with a depth camera. Our approach enables to create mechanically-correct digital representations of real-world textile materials, which is a…

Synthetic data is a powerful tool in training data hungry deep learning algorithms. However, to date, camera-based physiological sensing has not taken full advantage of these techniques. In this work, we leverage a high-fidelity synthetics…

Cloth manipulation is a category of deformable object manipulation of great interest to the robotics community, from applications of automated laundry-folding and home organizing and cleaning to textiles and flexible manufacturing. Despite…

Neural networks need big annotated datasets for training. However, manual annotation can be too expensive or even unfeasible for certain tasks, like multi-person 2D pose estimation with severe occlusions. A remedy for this is synthetic data…

Synthetic-to-real transfer learning is a framework in which a synthetically generated dataset is used to pre-train a model to improve its performance on real vision tasks. The most significant advantage of using synthetic images is that the…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

Humans have impressive generalization capabilities when it comes to manipulating objects and tools in completely novel environments. These capabilities are, at least partially, a result of humans having internal models of their bodies and…

Generative models have gained significant attention for their ability to produce realistic synthetic data that supplements the quantity of real-world datasets. While recent studies show performance improvements in wireless sensing tasks by…

Assembling a slave object into a fixture-free master object represents a critical challenge in flexible manufacturing. Existing deep reinforcement learning-based methods, while benefiting from visual or operational priors, often struggle…

Automation in surgical robotics has the potential to improve patient safety and surgical efficiency, but it is difficult to achieve due to the need for robust perception algorithms. In particular, 6D pose estimation of surgical instruments…

Data augmentations are useful in closing the sim-to-real domain gap when training on synthetic data. This is because they widen the training data distribution, thus encouraging the model to generalize better to other domains. Many image…

This paper presents a rigorous evaluation of Real-to-Sim parameter estimation approaches for fabric manipulation in robotics. The study systematically assesses three state-of-the-art approaches, namely two differential pipelines and a…