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Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics [article]

Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Jennifer Grannen, Minho Hwang, Ryan Hoque, Joseph E. Gonzalez, Nawid Jamali, Katsu Yamane, Soshi Iba (+1 others)
2020 arXiv   pre-print
This makes it possible to robustly imitate a broad set of multi-step fabric smoothing and folding tasks on multiple physical robotic systems.  ...  Results also suggest robustness to fabrics of various colors, sizes, and shapes. See for supplementary material and videos.  ...  Dense Object Descriptor Training Procedure We consider an environment with a deformable fabric on a flat tabletop and learn policies that perform smoothing and folding tasks.  ... 
arXiv:2003.12698v2 fatcat:ftdd3zxw5vektkcrb5q7zhxi7a


Julien Valentin, Philip Torr, Vibhav Vineet, Ming-Ming Cheng, David Kim, Jamie Shotton, Pushmeet Kohli, Matthias Nießner, Antonio Criminisi, Shahram Izadi
2015 ACM Transactions on Graphics  
The user interacts physically with the real-world scene, touching objects and using voice commands to assign them appropriate labels.  ...  Using our system, a user can walk into a room wearing a depth camera and a virtual reality headset, and both densely reconstruct the 3D scene and interactively segment the environment into object classes  ...  This is due to the fact that these chairs are actually yellow in color (see Fig. 1 ), and we use both appearance and geometry cues for learning (and have only trained on blue chairs so far).  ... 
doi:10.1145/2751556 fatcat:r54z2iasqvfczpfb6vptrpeafa

Dynamic Neural Garments [article]

Meng Zhang, Duygu Ceylan, Tuanfeng Wang, Niloy J. Mitra
2021 arXiv   pre-print
Technically, our solution generates a coarse garment proxy sequence, learns deep dynamic features attached to this template, and neurally renders the features to produce appearance changes such as folds  ...  We demonstrate generalization behavior to both unseen motion and unseen camera views. Further, our network can be fine-tuned to adopt to new body shape and/or background images.  ...  ., crease and folds) arising from a variety of factors, including their stitching layout, underlying materials, or printed patterns on the base fabrics.  ... 
arXiv:2102.11811v1 fatcat:sqtfd7d5ozaelil3mmp3kkol64

Learning a Shared Shape Space for Multimodal Garment Design [article]

Tuanfeng Y. Wang and Duygu Ceylan and Jovan Popovic and Niloy J. Mitra
2018 arXiv   pre-print
Traditional workflow involves a trial-and-error procedure wherein a mannequin is draped to judge the resultant folds and the sewing pattern iteratively adjusted until the desired look is achieved.  ...  This necessitates creating simple and effective workflows to facilitate authoring sewing patterns customized to garment and target body shapes to achieve desired looks.  ...  EVALUATION We evaluate our method qualitatively on real and synthetic data and quantitatively on synthetic data.  ... 
arXiv:1806.11335v2 fatcat:dzjya3hu2nfvbph5ok7j6gik4y

A Survey on Hand Pose Estimation with Wearable Sensors and Computer-Vision-Based Methods

Weiya Chen, Chenchen Yu, Chenyu Tu, Zehua Lyu, Jing Tang, Shiqi Ou, Yan Fu, Zhidong Xue
2020 Sensors  
Hand pose estimation is a big academic and technical challenge due to the complex structure and dexterous movement of human hands.  ...  Real-time sensing and modeling of the human body, especially the hands, is an important research endeavor for various applicative purposes such as in natural human computer interactions.  ...  The funders had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript; or in the decision to publish the results.  ... 
doi:10.3390/s20041074 pmid:32079124 pmcid:PMC7071082 fatcat:3wmf5dxi4naghm62ax32zo4xce

Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies [article]

Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen Novoseller, Minho Hwang, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
2021 arXiv   pre-print
LOKI uses a learned model of manipulation features to refine a coarse grasp keypoint prediction to a precise, optimized location and orientation, while SPiDERMan uses a learned model to sense task progress  ...  We evaluate these algorithms in physical cable untangling experiments with 336 knots and over 1500 actions on real cables using the da Vinci surgical robot.  ...  ACKNOWLEDGMENTS This research was performed at the AUTOLAB at UC Berkeley in affiliation with the Berkeley AI Research (BAIR) Lab, the Real-Time Intelligent Secure Execution (RISE) Lab and the CITRIS "  ... 
arXiv:2107.08942v1 fatcat:tw4h72iyg5afneroajhwxf7ula

Deep filter banks for texture recognition, description, and segmentation [article]

Mircea Cimpoi, Subhransu Maji, Iasonas Kokkinos, Andrea Vedaldi
2015 arXiv   pre-print
Visual textures have played a key role in image understanding because they convey important semantics of images, and because texture representations that pool local image descriptors in an orderless manner  ...  from one domain to another.  ...  Apart from its ability to incorporate information pertaining to image boundaries and color similarity, the Dense-CRF is particularily effiecient when used in conjunction with approximate probabilistic  ... 
arXiv:1507.02620v2 fatcat:hy7bumxlbvgtdlariuukwu5bqy

Deep Filter Banks for Texture Recognition, Description, and Segmentation

Mircea Cimpoi, Subhransu Maji, Iasonas Kokkinos, Andrea Vedaldi
2016 International Journal of Computer Vision  
Visual textures have played a key role in image understanding because they convey important semantics of images, and because texture representations that pool local image descriptors in an orderless manner  ...  First, instead of focusing on texture instance and material category recognition, we propose a human-interpretable vocabulary of texture attributes to describe common texture patterns, complemented by  ...  Apart from its ability to incorporate information pertaining to image boundaries and color similarity, the Dense-CRF is particularly efficient when used in conjunction with approximate probabilistic inference  ... 
doi:10.1007/s11263-015-0872-3 pmid:27471340 pmcid:PMC4946812 fatcat:z7sz65gi5nevbgsh2tt3kzdnzi

Unsupervised texture transfer from images to model collections

Tuanfeng Y. Wang, Hao Su, Qixing Huang, Jingwei Huang, Leonidas Guibas, Niloy J. Mitra
2016 ACM Transactions on Graphics  
Instead of using problematic dense correspondences, we factorize the problem into the reconstruction of a set of base textures (materials) and an illumination model for the object in the image.  ...  , as well as a wealth of data for training machine learning algorithms for various inference tasks in graphics and vision.  ...  , a Google Focused Research award, and gifts from Adobe and Intel.  ... 
doi:10.1145/2980179.2982404 fatcat:mnonnv3iuvepdhxohrilimjzry

An Investigation of Local Descriptors for Biometric Spoofing Detection

Diego Gragnaniello, Giovanni Poggi, Carlo Sansone, Luisa Verdoliva
2015 IEEE Transactions on Information Forensics and Security  
The research in this field is very active, with local descriptors, based on the analysis of microtextural features, gaining more and more popularity, because of their excellent performance and flexibility  ...  This paper aims at assessing the potential of these descriptors for the liveness detection task in authentication systems based on various biometric traits: fingerprint, iris, and face.  ...  to distinguish between real and fake traits.  ... 
doi:10.1109/tifs.2015.2404294 fatcat:ylepj7dzszbtnhjepned75ylee

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
., +, LRA July 2019 2902-2909 Learning Affordance Segmentation for Real-World Robotic Manipulation via Synthetic Images.  ...  Yang, K., +, LRA April 2019 708-715 Learning Affordance Segmentation for Real-World Robotic Manipulation via Synthetic Images.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

Learning-based Feedback Controller for Deformable Object Manipulation [article]

Biao Jia and Zhe Hu and Zherong Pan and Dinesh Manocha and Jia Pan
2018 arXiv   pre-print
Our online policy learning is based on the Gaussian Process Regression (GPR), which can achieve fast and accurate manipulation and is robust to small perturbations.  ...  We validate the performance of our controller on a set of deformable object manipulation tasks and demonstrate that our method can achieve effective and accurate servo-control for general deformable objects  ...  image of the current cloth configuration. 2) Transferring from a simulated environment to real robot hardware: To transfer the controller parametrization trained on the synthetic data, we complete the  ... 
arXiv:1806.09618v2 fatcat:nekes2brfjcere3zz5w4j7ttmi

Machine-Learning-Assisted De Novo Design of Organic Molecules and Polymers: Opportunities and Challenges

Guang Chen, Zhiqiang Shen, Akshay Iyer, Umar Farooq Ghumman, Shan Tang, Jinbo Bi, Wei Chen, Ying Li
2020 Polymers  
To date, using ML-assisted approaches, the quantitative structure property/activity relation for material property prediction can be established more accurately and efficiently.  ...  With advancements in high-throughput computation, artificial intelligence (especially machining learning, ML), and the growth of materials databases, ML-assisted materials design is emerging as a promising  ...  All authors have read and agreed to the published version of the manuscript.  ... 
doi:10.3390/polym12010163 pmid:31936321 pmcid:PMC7023065 fatcat:rptoxcbvsfg4toacpbxedwnq5m

Spatio-Temporal Deep Learning-Based Methods for Defect Detection: An Industrial Application Study Case

Lucas A. da Silva, Eulanda M. dos Santos, Leo Araújo, Natalia S. Freire, Max Vasconcelos, Rafael Giusti, David Ferreira, Anderson S. Jesus, Agemilson Pimentel, Caio F. S. Cruz, Ruan J. S. Belem, André S. Costa (+1 others)
2021 Applied Sciences  
Data-driven methods—particularly machine learning techniques—are expected to play a key role in the headway of Industry 4.0.  ...  One increasingly popular application in this context is when anomaly detection is employed to test manufactured goods in assembly lines.  ...  This research was conducted by partners: UFAM/ICOMP, ICTS and ENVISION/TPV. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app112210861 fatcat:q6u4au2rcfbjleqjmlbv76gzye

A comprehensive survey of fingerprint presentation attack detection

Konstantinos Karampidis, Minas Rousouliotis, Euangelos Linardos, Ergina Kavallieratou
2021 Journal of Surveillance, Security and Safety  
Both hardware-and software-based state-of-the-art methods are thoroughly presented and analyzed for identifying real fingerprints from artificial ones to help researchers to design securer biometric systems  ...  Biometric traits have gained significant interest in this area in recent years due to their uniqueness, ease of use and development, user convenience and security.  ...  [134] used a sensor with time-series and color sensing capabilities to capture a gray scale static image and a time-series color capture simultaneously.  ... 
doi:10.20517/jsss.2021.07 fatcat:arkgqtjmhfgqzgmwiuo4pc3squ
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