Robotic manipulation of deformable objects by leveraging physical rules from visual observations

PGR-P-1828

Key facts

Type of research degree: PhD
Application deadline: Ongoing deadline
Project start date: Tuesday 1 October 2024
Country eligibility: International (open to all nationalities, including the UK)
Funding: Competition funded
Source of funding: University of Leeds
Supervisors: Dr Yanlong Huang
Additional supervisors: Dr Mehmet Dogar
Schools: School of Computing

<h2 class="heading hide-accessible">Summary</h2>

In our everyday life, manipulating deformable objects is a commonly seen task, such as folding and unfolding clothes/towels, and cleaning plates with sponges. However, the precise physical rules that underlie the operation of deformable objects are hard to design empirically. One key factor accounting for this difficulty is that the dynamics of deformable objects vary with the material and even size and shape, as opposed to rigid objects. <br /> <br /> The project will research the automated discovery of physical rules by observing human demonstrations from a depth camera, where the rules are associated with visual observations in order to allow for the deployment of robotic manipulation in an end-to-end manner. Specifically, learning from visual images provides an intuitive and straightforward way to transfer human skills to robots. While these physical rules may not be precise, they contain effective guidance at a coarse level and hence have great potential to help robots grasp proper manipulation skills with fewer trials. Moreover, physical rules can be further refined from the interactions with deformable objects. This reciprocal mechanism between physical rules and manipulation actions resembles the process of how humans handle unseen tasks to some extent.<br /> The project has the potential to be employed in the entertainment sector, textile sector, as well as elderly care like dressing aids and so on.<br />

<h2 class="heading">How to apply</h2>

<p style="margin-bottom:11px">Formal applications for research degree study should be made online through the <a href="https://www.leeds.ac.uk/research-applying/doc/applying-research-degrees">University's website</a>. Please state clearly in the Planned Course of Study section that you are applying for <em><strong>PHD Computing FT</strong></em>, in the research information section that the research degree you wish to be considered for is <em><strong>Robotic manipulation of deformable objects by leveraging physical rules from visual observations</strong></em> as well as <a href="https://eps.leeds.ac.uk/computing/staff/8178/dr-yanlong-huang">Dr Yanlong Huang</a> as your proposed supervisor and in the finance section, please state clearly <em><strong>the funding that you are applying for, if you are self-funding or externally sponsored</strong></em>.</p> <p>If English is not your first language, you must provide evidence that you meet the University's minimum English language requirements (below).</p> <p><em>As an international research-intensive university, we welcome students from all walks of life and from across the world. We foster an inclusive environment where all can flourish and prosper, and we are proud of our strong commitment to student education. Across all Faculties we are dedicated to diversifying our community and we welcome the unique contributions that individuals can bring, and particularly encourage applications from, but not limited to Black, Asian, people who belong to a minority ethnic community, people who identify as LGBT+ and people with disabilities. Applicants will always be selected based on merit and ability.</em></p> <p>Applications will be considered after the closing date.  Potential applicants are strongly encouraged to contact the supervisors for an informal discussion before making a formal application.  We also advise that you apply at the earliest opportunity as the application and selection process may close early, should we receive a sufficient number of applications or that a suitable candidate is appointed.</p> <p>Please note that you must provide the following documents in support of your application by the closing date of 3 April 2024 for Leeds Opportunity Research Scholarship or 8 April 2024 for Leeds Doctoral Scholarship:</p> <ul> <li>Full Transcripts of all degree study or if in final year of study, full transcripts to date</li> <li>Personal Statement outlining your interest in the project</li> <li>CV</li> </ul>

<h2 class="heading heading--sm">Entry requirements</h2>

Applicants to research degree programmes should normally have at least a first class or an upper second class British Bachelors Honours degree (or equivalent) in an appropriate discipline. The criteria for entry for some research degrees may be higher, for example, several faculties, also require a Masters degree. Applicants are advised to check with the relevant School prior to making an application. Applicants who are uncertain about the requirements for a particular research degree are advised to contact the School or Graduate School prior to making an application.

<h2 class="heading heading--sm">English language requirements</h2>

The minimum English language entry requirement for research postgraduate research study is an IELTS of 6.5 overall with at least 6.5 in writing and at least 6.0 in reading, listening and speaking or equivalent. The test must be dated within two years of the start date of the course in order to be valid. Some schools and faculties have a higher requirement.

<h2 class="heading">Funding on offer</h2>

<p><strong>Self-Funded or externally sponsored students are welcome to apply.</strong></p> <p><strong>UK</strong> – The <a href="https://phd.leeds.ac.uk/funding/209-leeds-doctoral-scholarships-2022">Leeds Doctoral Scholarships</a> and <a href="https://phd.leeds.ac.uk/funding/234-leeds-opportunity-research-scholarship-2022">Leeds Opportunity Research Scholarship</a> (open from October 2023) are available to UK applicants. <a href="https://phd.leeds.ac.uk/funding/60-alumni-bursary">Alumni Bursary</a> is available to graduates of the University of Leeds.</p> <p><strong>Non-UK</strong> – The <a href="https://phd.leeds.ac.uk/funding/48-china-scholarship-council-university-of-leeds-scholarships-2021">China Scholarship Council - University of Leeds Scholarship</a> is available to nationals of China (now closed for 2024/25 entry). The <a href="https://phd.leeds.ac.uk/funding/73-leeds-marshall-scholarship">Leeds Marshall Scholarship</a> is available to support US citizens. <a href="https://phd.leeds.ac.uk/funding/60-alumni-bursary">Alumni Bursary</a> is available to graduates of the University of Leeds.</p> <p><strong>Important:</strong>  Any costs associated with your arrival at the University of Leeds to start your PhD including flights, immigration health surcharge/medical insurance and Visa costs are not covered under this studentship.</p> <p>Please refer to the <a href="https://www.ukcisa.org.uk/">UKCISA</a> website for information regarding Fee Status for Non-UK Nationals.</p> <hr />

<h2 class="heading">Contact details</h2>

<p style="margin-bottom:11px">For further information about this project, please contact Dr Yanlong Huang by email to <a href="mailto:Y.L.Huang@leeds.ac.uk">Y.L.Huang@leeds.ac.uk</a></p> <p>For further information about your application, please contact Doctoral College Admissions by email to <a href="mailto:phd@engineering.leeds.ac.uk">phd@engineering.leeds.ac.uk</a></p>