相关论文: DefFusionNet: Learning Multimodal Goal Shapes for …

Shape servoing, a robotic task dedicated to controlling objects to desired goal shapes, is a promising approach to deformable object manipulation. An issue arises, however, with the reliance on the specification of a goal shape. This goal…

Applications in fields ranging from home care to warehouse fulfillment to surgical assistance require robots to reliably manipulate the shape of 3D deformable objects. Analytic models of elastic, 3D deformable objects require numerous…

If robots could reliably manipulate the shape of 3D deformable objects, they could find applications in fields ranging from home care to warehouse fulfillment to surgical assistance. Analytic models of elastic, 3D deformable objects require…

The ability to manipulate objects in a desired configurations is a fundamental requirement for robots to complete various practical applications. While certain goals can be achieved by picking and placing the objects of interest directly,…

In this paper, we propose a novel approach to 3D deformable object manipulation leveraging a deep neural network called DeformerNet. Controlling the shape of a 3D object requires an effective state representation that can capture the full…

Manipulating deformable objects remains a challenge within robotics due to the difficulties of state estimation, long-horizon planning, and predicting how the object will deform given an interaction. These challenges are the most pronounced…

Diffusion-based generative modeling has been achieving state-of-the-art results on various generation tasks. Most diffusion models, however, are limited to a single-generation modeling. Can we generalize diffusion models with the ability of…

Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…

Efficient planning in high-dimensional spaces, such as those involving deformable objects, requires computationally tractable yet sufficiently expressive dynamics models. This paper introduces a method that automatically generates…

Visual servoing, the method of controlling robot motion through feedback from visual sensors, has seen significant advancements with the integration of optical flow-based methods. However, its application remains limited by inherent…

Diffusion generative models have demonstrated remarkable success in visual domains such as image and video generation. They have also recently emerged as a promising approach in robotics, especially in robot manipulations. Diffusion models…

Research in manipulation of deformable objects is typically conducted on a limited range of scenarios, because handling each scenario on hardware takes significant effort. Realistic simulators with support for various types of deformations…

Denosing diffusion model, as a generative model, has received a lot of attention in the field of image generation recently, thanks to its powerful generation capability. However, diffusion models have not yet received sufficient research in…

Dexterous manipulation with contact-rich interactions is crucial for advanced robotics. While recent diffusion-based planning approaches show promise for simple manipulation tasks, they often produce unrealistic ghost states (e.g., the…

Manipulation of elastoplastic objects like dough often involves topological changes such as splitting and merging. The ability to accurately predict these topological changes that a specific action might incur is critical for planning…

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization…

The Gaussian diffusion model, initially designed for image generation, has recently been adapted for 3D point cloud generation. However, these adaptations have not fully considered the intrinsic geometric characteristics of 3D shapes,…

With the success of image generation, generative diffusion models are increasingly adopted for discriminative tasks, as pixel generation provides a unified perception interface. However, directly repurposing the generative denoising process…

Manipulating deformable objects is a ubiquitous task in household environments, demanding adequate representation and accurate dynamics prediction due to the objects' infinite degrees of freedom. This work proposes DeformNet, which utilizes…

Diffusion and flow-based models have enabled significant progress in generation tasks across various modalities and have recently found applications in predictive learning. However, unlike typical generation tasks that encourage sample…