Perceiving and handling deformable objects is an integral part of everyday life for humans.
Automating tasks such as food handling, garment sorting, or assistive dressing requires …

Rearranging and manipulating deformable objects such as cables, fabrics, and bags is a
long-standing challenge in robotic manipulation. The complex dynamics and high …

This paper aims to provide a comprehensive survey of recent advancements in modelling
and autonomous manipulation of non-rigid objects. It first summarizes the recent advances …

The use of deep reinforcement learning allows for high-dimensional state descriptors, but
little is known about how the choice of action representation impacts learning and the …

Humans throw and catch objects all the time. However, such a seemingly common skill
introduces a lot of challenges for robots to achieve: The robots need to operate such …

Creating animation of a character putting on clothing is challenging due to the complex
interactions between the character and the simulated garment. We take a model-free deep …

Cloth dynamics plays an important role in the visual appearance of moving characters.
Properly accounting for contact and friction is of utmost importance to avoid cloth-body and …

We present a framework for deformable object manipulation that interleaves planning and
control, enabling complex manipulation tasks without relying on high-fidelity modeling or …

Hand layup is a commonly used process for making composite structures from several plies
of carbon-fiber prepreg. The process involves multiple human operators manipulating and …

In this letter, we present a general approach to automatically visual servo control the position
and shape of a deformable object whose deformation parameters are unknown. The servo …