Modeling and manipulating elasto-plastic objects are essential capabilities for robots to
perform complex industrial and household interaction tasks (eg, stuffing dumplings, rolling …

Manipulating cloth-like deformable objects (CDOs) is a long-standing problem in the
robotics community. CDOs are flexible (non-rigid) objects that do not show a detectable level …

Effective planning of long-horizon deformable object manipulation requires suitable
abstractions at both the spatial and temporal levels. Previous methods typically either focus …

Cable routing is a challenging task for robotic automation. To accomplish the task, it requires
a high-level path planner to generate a sequence of cable configurations from the initial …

Combining gradient-based trajectory optimization with differentiable physics simulation is an
efficient technique for solving soft-body manipulation problems. Using a well-crafted …

Robotic manipulation of highly deformable cloth presents a promising opportunity to assist
people with several daily tasks, such as washing dishes; folding laundry; or dressing …

We study the problem of learning graph dynamics of deformable objects that generalizes to
unknown physical properties. Our key insight is to leverage a latent representation of elastic …

Humans are capable of completing a range of challenging manipulation tasks that require
reasoning jointly over modalities such as vision, touch, and sound. Moreover, many such …

Manipulating volumetric deformable objects in the real world, like plush toys and pizza
dough, brings substantial challenges due to infinite shape variations, non-rigid motions, and …

Differentiable physics has recently been shown as a powerful tool for solving soft-body
manipulation tasks. However, the differentiable physics solver often gets stuck when the …