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

This paper reviews the robotic manipulation of deformable objects in caregiving scenarios.
Deformable objects like clothing, food, and medical supplies are ubiquitous in care tasks, yet …

Training embodied agents in simulation has become mainstream for the embodied AI
community. However, these agents often struggle when deployed in the physical world due …

This work offers a discussion on how computational mechanics and physics-informed
machine learning can be integrated into the process of sensing, understanding, and …

Deformable objects manipulation can benefit from representations that seamlessly integrate
vision and touch while handling occlusions. In this work, we present a novel approach for …

Simulation parameter settings such as contact models and object geometry approximations
are critical to training robust robotic policies capable of transferring from simulation to real …

Manipulating deformable objects is a ubiquitous task in household environments,
demanding adequate representation and accurate dynamics prediction due to the objects' …

Accurate deformable object manipulation (DOM) is essential for achieving autonomy in
robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM …

In image-guided surgery, deformation of soft tissues can cause substantial errors in targeting
internal targets, since deformation can affect the translation of preoperative image-based …

We propose to use a simulation driven inverse inference approach to model the dynamics of
tree branches under manipulation. Learning branch dynamics and gaining the ability to …