相关论文: DoughNet: A Visual Predictive Model for Topologica…

In this paper, we introduce a novel framework that can learn to make visual predictions about the motion of a robotic agent from raw video frames. Our proposed motion prediction network (PROM-Net) can learn in a completely unsupervised…

Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…

Deep learning based solutions are being succesfully implemented for a wide variety of applications. Most notably, clinical use-cases have gained an increased interest and have been the main driver behind some of the cutting-edge data-driven…

Selection of appropriate tools and use of them when performing daily tasks is a critical function for introducing robots for domestic applications. In previous studies, however, adaptability to target objects was limited, making it…

Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…

Real-time simulation of elastic structures is essential in many applications, from computer-guided surgical interventions to interactive design in mechanical engineering. The Finite Element Method is often used as the numerical method of…

Recently developed deep learning models are able to learn to segment scenes into component objects without supervision. This opens many new and exciting avenues of research, allowing agents to take objects (or entities) as inputs, rather…

Understanding and manipulating deformable objects (e.g., ropes and fabrics) is an essential yet challenging task with broad applications. Difficulties come from complex states and dynamics, diverse configurations and high-dimensional action…

Advancing robotic manipulation of deformable objects can enable automation of repetitive tasks across multiple industries, from food processing to textiles and healthcare. Yet robots struggle with the high dimensionality of deformable…

Reconstructing 3D human shape and pose from monocular images is challenging despite the promising results achieved by the most recent learning-based methods. The commonly occurred misalignment comes from the facts that the mapping from…

Robotic grasping of 3D deformable objects is critical for real-world applications such as food handling and robotic surgery. Unlike rigid and articulated objects, 3D deformable objects have infinite degrees of freedom. Fully defining their…

In this paper, we present TailorNet, a neural model which predicts clothing deformation in 3D as a function of three factors: pose, shape and style (garment geometry), while retaining wrinkle detail. This goes beyond prior models, which are…

It has been a long-standing materials science challenge to establish structure-property relations in amorphous solids. Here we introduce a rotation-variant local structure representation that enables different predictions for different…

We present Neural Shape Deformation Priors, a novel method for shape manipulation that predicts mesh deformations of non-rigid objects from user-provided handle movements. State-of-the-art methods cast this problem as an optimization task,…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

This paper introduces a challenging object grasping task and proposes a self-supervised learning approach. The goal of the task is to grasp an object which is not feasible with a single parallel gripper, but only with harnessing environment…

Curvilinear structure segmentation is important in medical imaging, quantifying structures such as vessels, airways, neurons, or organ boundaries in 2D slices. Segmentation via pixel-wise classification often fails to capture the small and…

Morphological analysis of organs based on images is a key task in medical imaging computing. Several approaches have been proposed for the quantitative assessment of morphological changes, and they have been widely used for the analysis of…

3D shape representation and its processing have substantial effects on 3D shape recognition. The polygon mesh as a 3D shape representation has many advantages in computer graphics and geometry processing. However, there are still some…

We present a novel learning approach to recover the 6D poses and sizes of unseen object instances from an RGB-D image. To handle the intra-class shape variation, we propose a deep network to reconstruct the 3D object model by explicitly…