相关论文: Right-Side-Out: Learning Zero-Shot Sim-to-Real Gar…

Accurate manipulation of a deformable body such as a piece of fabric is difficult because of its many degrees of freedom and unobservable properties affecting its dynamics. To alleviate these challenges, we propose the application of…

Zero-shot domain adaptation is a method for adapting a model to a target domain without utilizing target domain image data. To enable adaptation without target images, existing studies utilize CLIP's embedding space and text description to…

We present a network architecture which compares RGB images and untextured 3D models by the similarity of the represented shape. Our system is optimised for zero-shot retrieval, meaning it can recognise shapes never shown in training. We…

Robot models, particularly those trained with large amounts of data, have recently shown a plethora of real-world manipulation and navigation capabilities. Several independent efforts have shown that given sufficient training data in an…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

Garment restoration, the inverse of virtual try-on task, focuses on restoring standard garment from a person image, requiring accurate capture of garment details. However, existing methods often fail to preserve the identity of the garment…

Reinforcement Learning (RL) methods have been widely applied for robotic manipulations via sim-to-real transfer, typically with proprioceptive and visual information. However, the incorporation of tactile sensing into RL for contact-rich…

The standardized sizes used in the garment industry do not cover the range of individual differences in body shape for most people, leading to ill-fitting clothes, high return rates and overproduction. Recent research efforts in both…

We present SimShear, a sim-to-real pipeline for tactile control that enables the use of shear information without explicitly modeling shear dynamics in simulation. Shear, arising from lateral movements across contact surfaces, is critical…

Robotic-assisted dressing has the potential to significantly aid both patients as well as healthcare personnel, reducing the workload and improving the efficiency in clinical settings. While substantial progress has been made in robotic…

A desirable property of autonomous agents is the ability to both solve long-horizon problems and generalize to unseen tasks. Recent advances in data-driven skill learning have shown that extracting behavioral priors from offline data can…

Recent studies have shown remarkable success in unsupervised image-to-image translation. However, if there has no access to enough images in target classes, learning a mapping from source classes to the target classes always suffers from…

Given a person and a garment image, virtual try-on (VTO) aims to synthesize a realistic image of the person wearing the garment, while preserving their original pose and identity. Although recent VTO methods excel at visualizing garment…

We present a general framework for the garment animation problem through unsupervised deep learning inspired in physically based simulation. Existing trends in the literature already explore this possibility. Nonetheless, these approaches…

This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…

This paper provides a novel approach to stitching surface images of rotationally symmetric parts. It presents a process pipeline that uses a feature-based stitching approach to create a distortion-free and true-to-life image from a video…

In various surgical procedures, regions of interest (ROIs) such as organs or lesions are often occluded by overlying tissues, requiring surgeons to achieve adequate exposure for precise intervention. However, the irregular geometry,…

Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…

Achieving efficient, high-fidelity, high-resolution garment simulation is challenging due to its computational demands. Conversely, low-resolution garment simulation is more accessible and ideal for low-budget devices like smartphones. In…

The 2D virtual try-on task has recently attracted a lot of interest from the research community, for its direct potential applications in online shopping as well as for its inherent and non-addressed scientific challenges. This task…