Hao Dong

Ziyu Zhu, Yue Chen, Xirui Liang et al.

Manipulation involving rigid-deformable interactions, such as hanging clothes or dressing humans, is common in daily life, making it essential for household robots. Compared to single-object manipulation or interactions between rigid bodies, these tasks are particularly challenging due to the rich multi-point contacts and the complex dynamics of the deformable bodies during interaction. Therefore, object-centric representations such as 6D poses or structural points without task-specific information become insufficient for these interactions. In this work, we propose a hybrid correspondence-based representation tailored for rigid-deformable interactions. First, to capture intricate interaction information, we introduce structure-, task-, and interaction-aware sparse keypoints. The keypoints are generated based on the global structures of both rigid and deformable objects, and filtered by their local interaction contacts. However, tracking these sparse keypoints through the interaction remains difficult due to the high-dimensional dynamics of deformable objects. Therefore, we further construct dense correspondences on the deformable objects for accurate keypoint tracking throughout the manipulation. This hybrid design combines the advantages of both representations: sparse keypoints encode rich, task-specific information for fine-grained manipulation, while dense correspondences ensure efficient tracking and generalization to novel deformations, shapes, and scenarios. Together, they enable one-shot transfer to new tasks with minimal demonstrations. Extensive experiments demonstrate the effectiveness and broad applicability of our method.

Hao Dong, Yongfei Hu, Jiale Linghu et al.

Accurate prediction of the nonlinear radiation thermal transfer in composite structures with temperature-dependent properties is significant in high-temperature applications of the materials. This study establishes a high-accuracy multi-scale computational model incorporating novel high-order correction terms for the high-fidelity simulation of nonlinear thermal radiation in composite structures, enabling local balance preserving of heat quantity. Moreover, an explicit convergence rate is also derived for the resulting high-order multi-scale solutions. Furthermore, an efficient multi-scale algorithm consisting of off-line and on-line computation stages is developed for high-accuracy simulation of nonlinear thermal radiation behavior in composite structures, and corresponding convergence analysis is also obtained. Two- and three-dimensional numerical examples are presented to validate the competitive advantages of the proposed multi-scale approach, not only exceptional numerical accuracy, but also reduced computational cost in both storage requirements and computational time.