Related papers: Peg-in-Hole Revisited: A Generic Force Model for H…
In this paper we present a fully-coupled, two-scale homogenization method for dynamic loading in the spirit of FE$^2$ methods. The framework considers the balance of linear momentum including inertia at the microscale to capture possible…
This paper proposes a method to embed the AC power flow problem with voltage magnitude constraints in the complex plane. Modeling the action of network controllers that regulate the magnitude of voltage phasors is a challenging task in the…
The simulated self-assembly of molecular building blocks into functional complexes is a key area of study in computational biology and materials science. Self-assembly simulations of proteins using physically-motivated potentials for…
In applications of deep reinforcement learning to robotics, it is often the case that we want to learn pose invariant policies: policies that are invariant to changes in the position and orientation of objects in the world. For example,…
Contact-rich manipulation demands human-like integration of perception and force feedback: vision should guide task progress, while high-frequency interaction control must stabilize contact under uncertainty. Existing learning-based…
This work undertakes to combine the interests of IsoGeometric Analysis (IGA) and standard Finite Element Methods (FEM) for the global/local simulation of structures. The idea is to adopt a hybrid global-IGA/local-FEM modeling, thereby…
Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…
Haptic feedback enhances immersion in virtual environments by allowing users to physically interact with simulated objects. Supporting accurate force responses in multiphysics systems is challenging because physically based simulation of…
Human pose estimation (HPE) has received increasing attention recently due to its wide application in motion analysis, virtual reality, healthcare, etc. However, it suffers from the lack of labeled diverse real-world datasets due to the…
The Holomorphic Embedding Load-Flow Method (HELM) was recently introduced as a novel technique to constructively solve the power-flow equations in power grids, based on advanced complex analysis. In this paper, the theoretical foundations…
In this work, the principles of Homological Integration Theory are applied to the mathematical formulation of continuum mechanics. A central guideline in the currently acceptable formulation of continuum mechanics is that an admissible body…
Virtual human simulation integrated into virtual reality applications is mainly used for virtual representation of the user in virtual environment or for interactions between the user and the virtual avatar for cognitive tasks. In this…
The virtual element method (VEM) allows discretization of elasticity and plasticity problems with polygons in 2D and polyhedrals in 3D. The polygons (and polyhedrals) can have an arbitrary number of sides and can be concave or convex. These…
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact region is a planar non-convex contact patch. Such methods are useful in planning and…
Manipulation tasks often require a robot to adjust its sensorimotor skills based on the state it finds itself in. Taking peg-in-hole as an example: once the peg is aligned with the hole, the robot should push the peg downwards. While high…
Most of industrial robotic assembly tasks today require fixed initial conditions for successful assembly. These constraints induce high production costs and low adaptability to new tasks. In this work we aim towards flexible and adaptable…
This paper introduces a discrete-continuous action space to learn insertion primitives for robotic assembly tasks. Primitive is a sequence of elementary actions with certain exit conditions, such as "pushing down the peg until contact".…
The virtual element method (VEM) is a stabilized Galerkin method that is robust and accurate on general polygonal meshes. This feature makes it an appealing candidate for simulations involving meshes with embedded interfaces and evolving…
Geometric modelling has been a crucial component of the design process ever since the introduction of the first Computer-Aided Design (CAD) systems. Additive Manufacturing (AM) pushes design freedom to previously unachievable limits. AM…
Modeling the hand-object (HO) interaction not only requires estimation of the HO pose, but also pays attention to the contact due to their interaction. Significant progress has been made in estimating hand and object separately with deep…