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Collision detection plays an important role in simulation, control, and learning for robotic systems. However, no existing method is differentiable with respect to the configurations of the objects, greatly limiting the sort of algorithms…
This paper addresses the limitations of neural rendering-based multi-view surface reconstruction methods, which require an additional mesh extraction step that is inconvenient and would produce poor-quality surfaces with mesh aliasing,…
Registration is an essential tool in image analysis. Deep learning based alternatives have recently become popular, achieving competitive performance at a faster speed. However, many contemporary techniques are limited to volumetric…
As the most common representation for 3D shapes, mesh is often stored discretely with arrays of vertices and faces. However, 3D shapes in the real world are presented continuously. In this paper, we propose to learn a continuous…
We present MeshODE, a scalable and robust framework for pairwise CAD model deformation without prespecified correspondences. Given a pair of shapes, our framework provides a novel shape feature-preserving mapping function that continuously…
We present a method for guaranteed collision detection with toleranced motions. The basic idea is to consider the motion as a curve in the 12-dimensional space of affine displacements, endowed with an object-oriented Euclidean metric, and…
Text-guided diffusion models have achieved remarkable success in object inpainting by providing high-level semantic guidance through text prompts. However, they often lack precise pixel-level spatial control, especially in scenarios…
Differentiable physics is a powerful approach to learning and control problems that involve physical objects and environments. While notable progress has been made, the capabilities of differentiable physics solvers remain limited. We…
Many geometry processing techniques require the solution of partial differential equations (PDEs) on manifolds embedded in $\mathbb{R}^2$ or $\mathbb{R}^3$, such as curves or surfaces. Such manifold PDEs often involve boundary conditions…
This paper proposes a new set of conditions for exactly representing collision avoidance constraints within optimization-based motion planning algorithms. The conditions are continuously differentiable and therefore suitable for use with…
We present a new approach for the mechanically consistent modelling and simulation of fluid-structure interactions with contact. The fundamental idea consists of combining a relaxed contact formulation with the modelling of seepage through…
To design a method to solve the issues of handling 'dirty' and highly complex geometries, the topology-free method combined with the immersed boundary method is presented for viscous and incompressible flows at a high Reynolds number. The…
A mathematical model of plastic deformation in face-centered cubic (FCC) materials based on a balance model taking into account fundamental properties of deformation defects of a crystal lattice was developed. This model is based on a…
Classical Distributed Model Predictive Control (DiMPC) requires multiple iterations to achieve convergence, leading to high computational and communication burdens. This work focuses on the improvement of an iteration-free distributed MPC…
Defined mathematically as critical points of surface area subject to a volume constraint, constant mean curvatures (CMC) surfaces are idealizations of interfaces occurring between two immiscible fluids. Their behavior elucidates phenomena…
Frequently, the design of physicochemical processes requires screening of large numbers of alternative designs with complex geometries. These geometries may result in conformal meshes which introduce stability issues, significant…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
In this work, we focus on the task of learning and representing dense correspondences in deformable object categories. While this problem has been considered before, solutions so far have been rather ad-hoc for specific object types (i.e.,…
Simulations of many rigid bodies colliding with each other sometimes yield particularly interesting results if the colliding objects differ significantly in size and are non-spherical. The most expensive part within such a simulation code…
This contribution presents a method that aims at the numerical analysis of solids represented by oriented point clouds. The proposed approach is based on the Finite Cell Method, a high-order immersed boundary technique that computes on a…