相关论文: ContactSDF: Signed Distance Functions as Multi-Con…

It is important to estimate an accurate signed distance function (SDF) from a point cloud in many computer vision applications. The latest methods learn neural SDFs using either a data-driven based or an overfitting-based strategy. However,…

In this paper, we introduce a novel approach to implicitly encode precise robot morphology using forward kinematics based on a configuration space signed distance function. Our proposed Robot Neural Distance Function (RNDF) optimizes the…

We propose a feed-forward method for dense Signed Distance Field (SDF) regression from unstructured image collections in less than three seconds, without camera calibration or post-hoc fusion. Our key insight is that the intermediate…

This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…

Planning robot dexterity is challenging due to the non-smoothness introduced by contacts, intricate fine motions, and ever-changing scenarios. We present a hierarchical planning framework for dexterous robotic manipulation (HiDex). This…

This study addresses the challenge of ensuring safe spacecraft proximity operations, focusing on collision avoidance between a chaser spacecraft and a complex-geometry target spacecraft under disturbances. To ensure safety in such…

Compositional implicit surface representations model scenes as collections of objects, each encoded by a Signed Distance Field (SDF). A fundamental limitation of this approach is that multiple SDFs can produce geometries that…

Due to the visual ambiguity, purely kinematic formulations on monocular human motion capture are often physically incorrect, biomechanically implausible, and can not reconstruct accurate interactions. In this work, we focus on exploiting…

Medical image segmentation is a crucial task that relies on the ability to accurately identify and isolate regions of interest in medical images. Thereby, generative approaches allow to capture the statistical properties of segmentation…

Accurate and compact representation of signed distance functions (SDFs) of implicit surfaces is crucial for efficient storage, computation, and downstream processing of 3D geometry. In this work, we propose a general learning method for…

Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit…

Localization of a robotic system within a previously mapped environment is important for reducing estimation drift and for reusing previously built maps. Existing techniques for geometry-based localization have focused on the description of…

We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physically robust. The sensor uses a trained neural network to…

Achieving reliable robotic manipulation, such as dexterous grasping, requires a synergy between physically stable interactions and semantic task guidance, yet these objectives are often treated as separate, disjoint goals. In this paper, we…

From a geometric perspective most nonlinear binary classification algorithms, including state of the art versions of Support Vector Machine (SVM) and Radial Basis Function Network (RBFN) classifiers, and are based on the idea of…

Ensuring safe robot operation in cluttered and dynamic environments remains a fundamental challenge. While control barrier functions provide an effective framework for real-time safety filtering, their performance critically depends on the…

Dexterous manipulation tasks often require contact switching, where fingers make and break contact with the object. We propose a method that plans trajectories for dexterous manipulation tasks involving contact switching using…

Medical image segmentation plays an important role in accurately identifying and isolating regions of interest within medical images. Generative approaches are particularly effective in modeling the statistical properties of segmentation…

Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing tasks in cluttered environments, while the latter is…