相关论文: Visual Sculpting: Visually-Aligned Planning Repres…
Articulated object manipulation remains a critical challenge in robotics due to the complex kinematic constraints and the limited physical reasoning of existing methods. In this work, we introduce ArtGS, a novel framework that extends 3D…
Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…
One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…
In this work, we focus on the task of learning and representing dense correspondences in deformable object categories. While this problem has been considered before, solutions so far have been rather ad-hoc for specific object types (i.e.,…
This article introduces an artistic research project that utilises artist-in-residency and exhibition as methods for exploring the possibilities of robotic 3D printing and ceramics. The interdisciplinary project unites artists and…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
We present a system that allows users to visualize complex human motion via 3D motion sculptures---a representation that conveys the 3D structure swept by a human body as it moves through space. Given an input video, our system computes the…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
In this paper, we explore the task of robot sculpting. We propose a search based planning algorithm to solve the problem of sculpting by material removal with a multi-axis manipulator. We generate collision free trajectories for a…
This paper presents a new technique for the virtual reality (VR) visu-alization of complex volume images obtained from computer tomography (CT) and Magnetic Resonance Imaging (MRI) by combining three-dimensional (3D) mesh processing and…
Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…
3D single object tracking remains a challenging problem due to the sparsity and incompleteness of the point clouds. Existing algorithms attempt to address the challenges in two strategies. The first strategy is to learn dense geometric…
Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and…
Deformable linear objects (DLOs), such as rods, cables, and ropes, play important roles in daily life. However, manipulation of DLOs is challenging as large geometrically nonlinear deformations may occur during the manipulation process.…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…
Manipulation of deformable Linear objects (DLOs), including iron wire, rubber, silk, and nylon rope, is ubiquitous in daily life. These objects exhibit diverse physical properties, such as Young$'$s modulus and bending stiffness.Such…
Deformable linear objects (DLOs) manipulation presents significant challenges due to DLOs' inherent high-dimensional state space and complex deformation dynamics. The wide-populated obstacles in realistic workspaces further complicate DLO…
We present a visually grounded hierarchical planning algorithm for long-horizon manipulation tasks. Our algorithm offers a joint framework of neuro-symbolic task planning and low-level motion generation conditioned on the specified goal. At…
We present Virtual Elastic Objects (VEOs): virtual objects that not only look like their real-world counterparts but also behave like them, even when subject to novel interactions. Achieving this presents multiple challenges: not only do…