相关论文: Learning Correspondence for Deformable Objects

This paper proposes to learn reliable dense correspondence from videos in a self-supervised manner. Our learning process integrates two highly related tasks: tracking large image regions \emph{and} establishing fine-grained pixel-level…

In this work, we aim to learn dexterous manipulation of deformable objects using multi-fingered hands. Reinforcement learning approaches for dexterous rigid object manipulation would struggle in this setting due to the complexity of physics…

It is crucial to address the following issues for ubiquitous robotics manipulation applications: (a) vision-based manipulation tasks require the robot to visually learn and understand the object with rich information like dense object…

Nonprehensile manipulation is essential for manipulating objects that are too thin, large, or otherwise ungraspable in the wild. To sidestep the difficulty of contact modeling in conventional modeling-based approaches, reinforcement…

We propose a hardware and software pipeline to fabricate flexible wearable sensors and use them to capture deformations without line of sight. Our first contribution is a low-cost fabrication pipeline to embed multiple aligned conductive…

In this work, we present a novel learning-based framework that combines the local accuracy of contrastive learning with the global consistency of geometric approaches, for robust non-rigid matching. We first observe that while contrastive…

This paper presents a novel learning-based clothing deformation method to generate rich and reasonable detailed deformations for garments worn by bodies of various shapes in various animations. In contrast to existing learning-based…

We propose a network for semantic mapping called the Dense Dilated Convolutions Merging Network (DDCM-Net) to provide a deep learning approach that can recognize multi-scale and complex shaped objects with similar color and textures, such…

Dense Object Nets (DONs) by Florence, Manuelli and Tedrake (2018) introduced dense object descriptors as a novel visual object representation for the robotics community. It is suitable for many applications including object grasping, policy…

Regular object detection methods output rectangle bounding boxes, which are unable to accurately describe the actual object shapes. Instance segmentation methods output pixel-level labels, which are computationally expensive for real-time…

Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as imitation learning, have been used to address deformable…

Deformable convolution, originally proposed for the adaptation to geometric variations of objects, has recently shown compelling performance in aligning multiple frames and is increasingly adopted for video super-resolution. Despite its…

Manipulating clothing is challenging due to complex configurations, variable material dynamics, and frequent self-occlusion. Prior systems often flatten garments or assume visibility of key features. We present a dual-arm visuotactile…

We present a minimalistic but effective neural network that computes dense facial correspondences in highly unconstrained RGB images. Our network learns a per-pixel flow and a matchability mask between 2D input photographs of a person and…

Reasoning over the interplay between object deformation and force transmission through contact is central to the manipulation of compliant objects. In this paper, we propose Neural Deforming Contact Field (NDCF), a representation that…

We seek a practical method for establishing dense correspondences between two images with similar content, but possibly different 3D scenes. One of the challenges in designing such a system is the local scale differences of objects…

Given a demonstration, a robot should be able to generalize a skill to any object it encounters-but existing approaches to skill transfer often fail to adapt to objects with unfamiliar shapes. Motivated by examples of improved transfer from…

We present a novel sparse modeling approach to non-rigid shape matching using only the ability to detect repeatable regions. As the input to our algorithm, we are given only two sets of regions in two shapes; no descriptors are provided so…

In this study, an adaptive object deformability-agnostic human-robot collaborative transportation framework is presented. The proposed framework enables to combine the haptic information transferred through the object with the human…

Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…