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Rapid developments in advanced sensing and imaging have significantly enhanced information visibility, opening opportunities for predictive modeling of complex dynamic systems. However, sensing signals acquired from such complex systems are…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
This paper presents a novel geometric representation for CAD Boundary Representation (B-Rep) based on volumetric distance functions, dubbed B-Rep Distance Functions (BR-DF). BR-DF encodes the surface mesh geometry of a CAD model as signed…
Extensions of Neural Radiance Fields (NeRFs) to model dynamic scenes have enabled their near photo-realistic, free-viewpoint rendering. Although these methods have shown some potential in creating immersive experiences, two drawbacks limit…
This work proposes a model-reduction approach for the material point method on nonlinear manifolds. Our technique approximates the $\textit{kinematics}$ by approximating the deformation map using an implicit neural representation that…
Estimating geometry from dynamic scenes, where objects move and deform over time, remains a core challenge in computer vision. Current approaches often rely on multi-stage pipelines or global optimizations that decompose the problem into…
Human visual perception offers valuable insights for understanding computational principles of motion-based scene interpretation. Humans robustly detect and segment moving entities that constitute independently moveable chunks of matter,…
We consider the approximation of the 2D frictionless contact problem in elasticity using the Virtual Element Methods (VEMs). To overcome the volumetric locking phenomenon in the nearly incompressible case, we adopt a mixed…
Bird's-eye view (BEV) maps are an important geometrically structured representation widely used in robotics, in particular self-driving vehicles and terrestrial robots. Existing algorithms either require depth information for the geometric…
A key challenge in 3D finite element models of coupled railway vehicle-bridge dynamics is the rigorous definition of kinematic constraints and the development of an efficient, robust solution. This paper presents a novel approach that can…
Current 3D reconstruction methods typically generate outputs in the form of voxels, point clouds, or meshes. However, each of these formats has inherent limitations, such as rough surfaces and distorted structures. Additionally, these data…
Reconstructing 3D geometry and appearance from a sparse set of fixed cameras is a foundational task with broad applications, yet it remains fundamentally constrained by the limited viewpoints. We show that this bound can be broken by…
Methodologies for reducing the design-space dimensionality in shape optimization have been recently developed based on unsupervised machine learning methods. These methods provide reduced dimensionality representations of the design space,…
This paper presents a novel implicit scheme for the constraint resolution in real-time finite element simulations in the presence of contact and friction. Instead of using the standard motion correction scheme, we propose an iterative…
We investigate the problem of estimating the 3D shape of an object defined by a set of 3D landmarks, given their 2D correspondences in a single image. A successful approach to alleviating the reconstruction ambiguity is the 3D deformable…
In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…
We present a novel methodology based on geometric approach to simulate magnification lens effects. Our aim is to promote new applications of powerful geometric modeling techniques in visual computing. Conventional image…
This paper investigates model-order reduction methods for geometrically nonlinear structures. The parametrisation method of invariant manifolds is used and adapted to the case of mechanical systems expressed in the physical basis, so that…
Simulation modeling of robots, objects, and environments is the backbone for all model-based control and learning. It is leveraged broadly across dynamic programming and model-predictive control, as well as data generation for imitation,…
Coarse-guided visual generation, which synthesizes fine visual samples from degraded or low-fidelity coarse references, is essential for various real-world applications. While training-based approaches are effective, they are inherently…