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MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects [article]

Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Ryan Hoque, Joseph E. Gonzalez, Ken Goldberg
2020 arXiv   pre-print
We propose Multi-Modal Gaussian Shape Descriptor (MMGSD), a new visual representation of deformable objects which extends ideas from dense object descriptors to predict all symmetric correspondences between  ...  We explore learning pixelwise correspondences between images of deformable objects in different configurations.  ...  Fig. 1 : 1 Multi-Modal Gaussian Shape Descriptors (MMGSD) Fig. 2 : 2 Fig. 2: We visualize the multi-modal ground truth distributions (B) and predicted (A,C) correspondences on domain-randomized images  ... 
arXiv:2010.04339v1 fatcat:i6cq3b6p5zcgjonjupln3xl6re

VisuoSpatial Foresight for Physical Sequential Fabric Manipulation [article]

Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg
2021 arXiv   pre-print
In this earlier work, we evaluated VSF on multi-step fabric smoothing and folding tasks against 5 baseline methods in simulation and on the da Vinci Research Kit (dVRK) surgical robot without any demonstrations  ...  Robotic fabric manipulation has applications in home robotics, textiles, senior care and surgery.  ...  Ganapathi A, Sundaresan P, Thananjeyan B, Balakrishna A, Seita D, Hoque R, Gonzalez JE, Goldberg K (2020) Mmgsd: Multi-modal gaussian shape descriptors for correspondence matching in 1d and 2d deformable  ... 
arXiv:2102.09754v2 fatcat:kyxkizg7ofg2vbsor6q6jclf3y