Related papers: A new object-oriented framework for solving multip…
We introduce a manifold-based framework for addressing optimization problems with equality and inequality constraints found in robotics. Our approach transforms the original problem into an unconstrained optimization problem directly on the…
Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…
Object-oriented programming languages such as Java and Objective C have become popular for implementing agent-based and other object-based simulations since objects in those languages can {\em reflect} (i.e. make runtime queries of an…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
We present Orbit, a unified and modular framework for robot learning powered by NVIDIA Isaac Sim. It offers a modular design to easily and efficiently create robotic environments with photo-realistic scenes and high-fidelity rigid and…
Multi-objective optimization is central to many engineering and machine learning applications, where multiple objectives must be optimized in balance. While multi-gradient based optimization methods combine these objectives in each step,…
The architecture of a robotics software framework tremendously influences the effort and time it takes for end users to test new concepts in a simulation environment and to control real hardware. Many years of activity in the field allowed…
We present a "multipatch" infrastructure for numerical simulation of fluid problems in which sub-regions require different gridscales, different grid geometries, different physical equations, or different reference frames. Its key element…
As computer simulations progress to increasingly complex, non-linear, and three-dimensional systems and phenomena, intuitive and immediate visualization of their results is becoming crucial. While Virtual Reality (VR) and Natural User…
Mathematical models simulate various events under different conditions, enabling an early overview of the system to be implemented in practice, reducing the waste of resources and in less time. In project optimization, these models play a…
Many subsurface engineering applications involve tight-coupling between fluid flow, solid deformation, fracturing, and similar processes. To better understand the complex interplay of different governing equations, and therefore design…
For the right application, the use of programming paradigms such as functional or logic programming can enormously increase productivity in software development. But these powerful paradigms are tied to exotic programming languages, while…
In this work, we aim to teach robots to manipulate various thin-shell materials. Prior works studying thin-shell object manipulation mostly rely on heuristic policies or learn policies from real-world video demonstrations, and only focus on…
We introduce a general-purpose framework for interconnecting scientific simulation programs using a homogeneous, unified software interface. Our framework is intrinsically parallel, and conveniently separates all components in memory. It…
The goal of this paper is the description and analysis of multimethod implementation in a new object-oriented, class-based programming language called OOLANG. The implementation of the multimethod typecheck and selection, deeply analyzed in…
We introduce the challenging problem of multi-object system identification from videos, for which prior methods are ill-suited due to their focus on single-object scenes or discrete material classification with a fixed set of material…
The prevailing net-centric environment demands and enables modeling and simulation to combine efforts from numerous disciplines. Software techniques and methodology, in particular service-oriented architecture, provide such an opportunity.…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
Because of the importance of object oriented methodologies, the research in developing new measure for object oriented system development is getting increased focus. The most of the metrics need to find the interactions between the objects…
Because of the importance of object oriented methodologies, the research in developing new measure for object oriented system development is getting increased focus. The most of the metrics need to find the interactions between the objects…