相关论文: RoboHanger: Learning Generalizable Robotic Hanger …

Garments are ubiquitous in both real and many of the virtual worlds. They are highly deformable objects, exhibit an immense variety of designs and shapes, and yet, most garments are created from a set of regularly shaped flat pieces.…

We propose a method that leverages graph neural networks, multi-level message passing, and unsupervised training to enable real-time prediction of realistic clothing dynamics. Whereas existing methods based on linear blend skinning must be…

Recent advances in digital avatar technology have enabled the generation of compelling virtual characters, but deploying these avatars on compute-constrained devices poses significant challenges for achieving realistic garment deformations.…

Cluttered garments manipulation poses significant challenges due to the complex, deformable nature of garments and intricate garment relations. Unlike single-garment manipulation, cluttered scenarios require managing complex garment…

Wearable devices continuously collect sensor data and use it to infer an individual's behavior, such as sleep, physical activity, and emotions. Despite the significant interest and advancements in this field, modeling multimodal sensor data…

This paper presents volumetric homogenization, a spatially varying homogenization scheme for knitwear simulation. We are motivated by the observation that macro-scale fabric dynamics is strongly correlated with its underlying knitting…

With the remarkable recent progress on learning deep generative models, it becomes increasingly interesting to develop models for controllable image synthesis from reconfigurable inputs. This paper focuses on a recent emerged task,…

Learning Machines is developing a flexible, cross-industry, advanced analytics platform, targeted during stealth-stage at a limited number of specific vertical applications. In this paper, we aim to integrate a general machine system to…

Grasping by a robot in unstructured environments is deemed a critical challenge because of the requirement for effective adaptation to a wide variation in object geometries, material properties, and other environmental factors. In this…

Robotic manipulation of cloth is a challenging task due to the high dimensionality of the configuration space and the complexity of dynamics affected by various material properties. The effect of complex dynamics is even more pronounced in…

Open containers, i.e., containers without covers, are an important and ubiquitous class of objects in human life. In this letter, we propose a novel method for robots to "imagine" the open containability affordance of a previously unseen…

In this paper, we consider the problem of learning object manipulation tasks from human demonstration using RGB or RGB-D cameras. We highlight the key challenges in capturing sufficiently good data with no tracking devices - starting from…

Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…

Realistic physics engines play a crucial role for learning to manipulate deformable objects such as garments in simulation. By doing so, researchers can circumvent challenges such as sensing the deformation of the object in the realworld.…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…

We present a novel solution to the garment animation problem through deep learning. Our contribution allows animating any template outfit with arbitrary topology and geometric complexity. Recent works develop models for garment edition,…

Thin plastic bags are ubiquitous in retail stores, healthcare, food handling, recycling, homes, and school lunchrooms. They are challenging both for perception (due to specularities and occlusions) and for manipulation (due to the dynamics…

In this work a system for recognizing grasp points in RGB-D images is proposed. This system is intended to be used by a domestic robot when deploying clothes lying at a random position on a table. By taking into consideration that the grasp…

For peg-in-hole tasks, humans rely on binocular visual perception to locate the peg above the hole surface and then proceed with insertion. This paper draws insights from this behavior to enable agents to learn efficient assembly strategies…