Related papers: Implementation of interaction between soft tissues…
Soft materials, such as colloidal suspensions, polymer solutions, and biological systems, are typically multicomponent mixtures of macromolecules and simpler components (e.g., microions, monomers, solvent) that can assemble into complex…
Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…
In various applications, such as virtual reality and gaming, simulating the deformation of soft tissues in the human body during interactions with external objects is essential. Traditionally, Finite Element Methods (FEM) have been employed…
In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…
Parametric human body models play a crucial role in computer graphics and vision, enabling applications ranging from human motion analysis to understanding human-environment interactions. Traditionally, these models use surface meshes,…
We consider geometric collision-detection problems for modular reconfigurable robots. Assuming the nodes (modules) are connected squares on a grid, we investigate the complexity of deciding whether collisions may occur, or can be avoided,…
Large imbalance often exists between the foreground points (i.e., objects) and the background points in outdoor LiDAR point clouds. It hinders cutting-edge detectors from focusing on informative areas to produce accurate 3D object detection…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Assessing collision risk is a critical challenge to effective traffic safety management. The deployment of unmanned aerial vehicles (UAVs) to address this issue has shown much promise, given their wide visual field and movement flexibility.…
Human-object interaction (HOI) detection plays a key role in high-level visual understanding, facilitating a deep comprehension of human activities. Specifically, HOI detection aims to locate the humans and objects involved in interactions…
Rigid body interactions are fundamental to numerous scientific disciplines, but remain challenging to simulate due to their abrupt nonlinear nature and sensitivity to complex, often unknown environmental factors. These challenges call for…
Globally, motorcycles attract vast and varied users. However, since the rate of severe injury and fatality in motorcycle accidents far exceeds passenger car accidents, efforts have been directed toward increasing passive safety systems.…
The fundamental problem of friction in the presence of macroscopic adhesion, as in soft bodies, is receiving interest from many experimentalists. Since the first fracture mechanics `purely brittle' model of Savkoor and Briggs, models have…
In this work, we provide a solution to the problem of computing collision stress in particle-tracking simulations. First, a formulation for the collision stress between particles is derived as an extension of the virial stress formula to…
Existing methods for reconstructing objects and humans from a monocular image suffer from severe mesh collisions and performance limitations for interacting occluding objects. This paper introduces a method to obtain a globally consistent…
We introduce Vysics, a vision-and-physics framework for a robot to build an expressive geometry and dynamics model of a single rigid body, using a seconds-long RGBD video and the robot's proprioception. While the computer vision community…
Although it is well believed for years that modeling relations between objects would help object recognition, there has not been evidence that the idea is working in the deep learning era. All state-of-the-art object detection systems still…
This paper presents a detailed study of improving visual representations for vision language (VL) tasks and develops an improved object detection model to provide object-centric representations of images. Compared to the most widely used…
Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…
Collision avoidance systems play a vital role in reducing the number of vehicle accidents and saving human lives. This paper extends the previous work using evolutionary neural networks for reactive collision avoidance. We are proposing a…