Related papers: A robust direct modeling method for quadric B-rep …

Graph-based machine learning has emerged as a promising approach for manufacturability analysis by learning directly from CAD models represented as Boundary Representations (B-reps), exploiting both surface geometry and topological…

This paper extends a recently proposed robust computational framework for constructing the boundary representation (brep) of the volume swept by a given smooth solid moving along a one parameter family $h$ of rigid motions. Our extension…

This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…

It is challenging to directly estimate the human geometry from a single image due to the high diversity and complexity of body shapes with the various clothing styles. Most of model-based approaches are limited to predict the shape and pose…

Interactive point-based image editing serves as a controllable editor, enabling precise and flexible manipulation of image content. However, most drag-based methods operate primarily on the 2D pixel plane with limited use of 3D cues. As a…

This paper presents an enhanced direct-method-based approach for the real-time solution of optimal control problems to handle path constraints, such as obstacles. The principal contributions of this work are twofold: first, the existing…

Mathematically representing the shape of an object is a key ingredient for solving inverse rendering problems. Explicit representations like meshes are efficient to render in a differentiable fashion but have difficulties handling topology…

We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes linear MPC to contact-rich settings by utilizing a bi-level…

Models for near-rigid shape matching are typically based on distance-related features, in order to infer matches that are consistent with the isometric assumption. However, real shapes from image datasets, even when expected to be related…

We propose a direct imaging method based on the reverse time migration to reconstruct extended obstacles in the half space with finite aperture elastic scattering data at a fixed frequency. We prove the resolution of the reconstruction…

Drag-based image editing has emerged as a powerful paradigm for intuitive image manipulation. However, existing approaches predominantly rely on manipulating the latent space of generative models, leading to limited precision, delayed…

We present a robust method to find region-level correspondences between shapes, which are invariant to changes in geometry and applicable across multiple shape representations. We generate simplified shape graphs by jointly decomposing the…

This study presents an innovative direct numerical simulation approach for complex particle systems with irregular shapes and large numbers. Using partially saturated methods, it accurately models arbitrary shapes, albeit at considerable…

Traditional geometric inverse kinematics methods for parallel mechanisms rely on specific spatial geometry constraints. However, their application to redundant parallel mechanisms is challenged due to the increased constraint complexity.…

The ability to accurately reconstruct the 3D facets of a scene is one of the key problems in robotic vision. However, even with recent advances with machine learning, there is no high-fidelity universal 3D reconstruction method for this…

In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…

Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractable belief dynamics, making data-efficient planning under…

This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input;…

Boundary Representation (B-Rep) is the widely adopted standard in Computer-Aided Design (CAD) and manufacturing. However, generative modeling of B-Reps remains a formidable challenge due to their inherent heterogeneity as geometric cell…

We present a novel approach for the reconstruction of dynamic geometric shapes using a single hand-held consumer-grade RGB-D sensor at real-time rates. Our method does not require a pre-defined shape template to start with and builds up the…