| CARVIEW |
2nd Workshop on Representing and Manipulating Deformable Objects @ ICRA2022 was held on 23.05.2022 8:30 GMT-04, Room 113C
Clothes, food, cables, and body tissue are just a few examples of deformable objects involved in both everyday and specialized tasks. Although humans are able to reliably manipulate them, automating this process using robotic platforms remains challenging. Indeed, the high number of degrees of freedom involved undermines the effectiveness of traditional modelling, planning and control methods developed for rigid object manipulation. This paves the way for exciting questions from a research and application perspective. i) How to tractably represent the state of a deformable object? ii) How to model and simulate its highly complex and non-linear dynamics? iii) What hardware tools and platforms are best suited for grasping and manipulating? We aim to discuss these and more challenges that arise from handling deformable objects by connecting scientists from different subfields of robotics, including perception, simulation, control, and mechanics.
The workshop was held in hybrid mode with free remote participation
Links:
- YouTube channel: https://www.youtube.com/channel/UCQFAnfbQK45enYDr8B0VdKw
- Link to 1st edition of the workshop: https://deformable-workshop.github.io/icra2021/
Content
Topics
The workshop aims to explore different aspects that will potentially allow robots to autonomously manipulate deformable objects in the near future. Enabling such manipulation is crucial for a variety of domains and tasks, e.g., domestic, industrial and surgical contexts, which involve various forms of object deformability. However, the complexity of representing and modeling the dynamics of these objects results in the lack of a current unified solution that can be adapted to a wide range of objects. Specifically, the workshop will focus on, but is not limited to, the following topics for deformable object manipulation:
- Representation and state estimation
- Simulation and modeling
- Transfer from simulation to reality
- Learning to manipulate using data-driven methods such as reinforcement learning and learning from demonstrations
- Perception: state tracking, parameter identification, property detection (e.g. landmarks for garments) and classification, etc.
- Control, visual servoing and planning
- Specialized tools, e.g. grippers, and sensors
- Multi-arm manipulation
- Application-specific challenges: cloth folding, surgical tasks, precision agriculture, etc.
Schedule [PDF]
Time Zone: GMT-04
| Time | Activity |
|---|---|
| 08:30 - 08:45 | Welcome [Video] |
| 08:45 - 09:15 | Kimitoshi Yamazaki: Cloth manipulation based on hierarchical shape prediction [Video] |
| 09:15 - 09:45 | Youcef Mezouar (Mohammad Al Khatib): The european project Softmanbot : handling deformable and flexible materials for the industry [Video] |
| 09:45 - 10:25 | Spotlight talks #1 [Video]
|
| 10:25 - 11:00 | Coffee break + Posters session #1
|
| 11:00 – 11:30 | Ken Goldberg: Real2Sim2Real: A Model for Deep Learning to Manipulate Deformable Objects [Video] |
| 11:30 – 12:00 | Andrea Cherubini: See and shape: vision-based robot manipulation of non-rigid objects [Video] |
| 12:00 – 12:40 | Spotlight talks #2 [Video]
|
| 12:40 - 13:45 | Lunch [Video] |
| 13:45 – 14:15 | Shuran Song: The Reasonable Effectiveness of Dynamic Manipulation for Deformable Objects [Video] |
| 14:15 – 14:45 | Rika Antonova: Distributional Representations and Scalable Simulations for Real-to-Sim with Deformables [Video] |
| 14:45 – 15:15 | Spotlight talks #3 [Video]
|
| 15:15- 16:00 | Coffee break + Posters session #2
|
| 16:00 – 16:30 | Alan Kuntz & Isabella Huang: Large-Scale Simulation for Calibration-Free Sim to Real Transfer of Deformable Object Manipulation [Video] |
| 16:30 – 17:00 | Carolyn Matl: Deformable Elasto-Plastic Object Shaping using an Elastic Hand [Video] |
| 17:00 – 17:30 | Panel discussion [Video] |
| 17:30 – 17:45 | Closing remarks |
Call for papers
We invite participants to submit extended abstracts 3+n pages, with n pages (no page-limit) for the bibliography, in the IEEE conference style.
Submissions will be reviewed by experts of their respective field. The accepted abstracts will be made available on the workshop website but will not appear in the official IEEE conference proceedings. Participants are encouraged to submit their recent work on the topics of interest mentioned above. Contributions are encouraged, but are not required, to be original.
The review process will be single-blind, meaning the submitted paper does not need to be anonymized.
Abstracts can be submitted through Microsoft CMT: https://cmt3.research.microsoft.com/WDOICRA2022.
Important dates:
- Submission Deadline:
05.04.2022 AOE17.04.2022 AOE - Notification date:
30.04.2022 AOE06.05.2022 AOE - Final submission:
14.05.2022 AOE16.05.2022 AOE - Workshop date: 23.05.2022 AOE
Invited Speakers (alphabetical order)
Rika Antonova
Talk title: Distributional Representations and Scalable Simulations for Real-to-Sim with Deformables
Andrea Cherubini
Talk title: See and shape: vision-based robot manipulation
of non-rigid objects
Ken Goldberg
Professor, Industrial Engineering and Operations Research
William S. Floyd Jr. Distinguished Chair in Engineering
UC Berkeley, United States
Personal website
Talk title: A Model for Deep Learning to Manipulate Deformable Objects
Isabella Huang
Talk title: Large-Scale Simulation for Calibration-Free Sim to Real
Transfer of Deformable Object Manipulation (joint talk with Tucker Hermans)
Alan Kuntz
Talk title: Large-Scale Simulation for Calibration-Free Sim to Real
Transfer of Deformable Object Manipulation (joint talk with Isabella Huang)
Carolyn Matl
Talk title: Deformable Elasto-Plastic Object Shaping using an Elastic Hand
Youcef Mezouar
Professor at SIGMA'Clermont, Institut Pascal UMR 6602 CNRS
Université Clermont Auvergne/Sigma, France
Personal website
Talk title: The european project Softmanbot : handling deformable
and flexible materials for the industry
Shuran Song
Talk title: The Reasonable Effectiveness of Dynamic Manipulation for Deformable Objects
Kimitoshi Yamazaki
Talk title: Cloth manipulation based on hierarchical shape prediction
Organizers (alphabetical order)
- Martina Lippi, Roma Tre University, Italy
- Daniel Seita, Carnegie Mellon University, USA
- Michael C. Welle, KTH Royal Institute of Technology, Sweden
Co-Organizers
- Hang Yin, KTH Royal Institute of Technology, Sweden
- Danica Kragic, KTH Royal Institute of Technology, Sweden
- Alessandro Marino, University of Cassino and Southern Lazio, Italy
- David Held, Carnegie Mellon University, USA
- Yiannis Karayiannidis, Chalmers University of Technology, Sweden
Contact
If you have any questions please contact Martina Lippi at the email: martina.lippi AT uniroma3 DOT it