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We consider travel time tomography problems involving detection of high contrast, discrete high velocity structures. This results in a discrete nonlinear inverse problem, for which traditional grid-based models and iterative linearized…
Surveillance and surveying are two important applications of empirical research. A major part of terrain modelling is supported by photographic surveys which are used for capturing expansive natural surfaces using a wide range of sensors --…
Backward compatible representation learning enables updated models to integrate seamlessly with existing ones, avoiding to reprocess stored data. Despite recent advances, existing compatibility approaches in Euclidean space neglect the…
This paper presents a novel non-linear model reduction method: Probabilistic Manifold Decomposition (PMD), which provides a powerful framework for constructing non-intrusive reduced-order models (ROMs) by embedding a high-dimensional system…
Boundary representation (B-rep) models are the standard way 3D shapes are described in Computer-Aided Design (CAD) applications. They combine lightweight parametric curves and surfaces with topological information which connects the…
Realtime shape estimation of continuum objects and manipulators is essential for developing accurate planning and control paradigms. The existing methods that create dense point clouds from camera images, and/or use distinguishable markers…
In machining process, 3D reverse engineering of the mechanical system is an integral, highly important, and yet time consuming step to obtain parametric CAD models from 3D scans. Therefore, deep learning-based Scan-to-CAD modeling can offer…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
We present a novel method to generate accurate and realistic clothing deformation from real data capture. Previous methods for realistic cloth modeling mainly rely on intensive computation of physics-based simulation (with numerous…
We propose EasyControlEdge, adapting an image-generation foundation model to edge detection. In real-world edge detection (e.g., floor-plan walls, satellite roads/buildings, and medical organ boundaries), crispness and data efficiency are…
Non-prehensile manipulation, such as pushing objects to a desired target position, is an important skill for robots to assist humans in everyday situations. However, the task is challenging due to the large variety of objects with different…
One of the major challenges of model-free visual tracking problem has been the difficulty originating from the unpredictable and drastic changes in the appearance of objects we target to track. Existing methods tackle this problem by…
The objective of this research is the development of a geometrically exact model for the analysis of arbitrarily curved spatial Bernoulli-Euler beams. The complete metric of the beam is utilized in order to include the effect of curviness…
Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…
Reconstructing 3D objects from images is inherently an ill-posed problem due to ambiguities in geometry, appearance, and topology. This paper introduces collaborative inverse rendering with persistent homology priors, a novel strategy that…
Differentiable particle-based simulation can produce physically plausible motion, but target-driven volumetric shape morphing remains underconstrained: physics-only mass matching captures coarse global structure yet struggles with fine…
Identifying predictive world models for robots in novel environments from sparse online observations is essential for robot task planning and execution in novel environments. However, existing methods that leverage differentiable…
Constructing computer-aided design (CAD) models is labor-intensive but essential for engineering and manufacturing. Recent advances in Large Language Models (LLMs) have inspired the LLM-based CAD generation by representing CAD as command…
Accurate representation of interfaces and flux exchange is vital for coupled multiphysics simulations across a broad range of applications. Currently, coupling approaches are limited by the underlying discretization or to specific physical…
Sketch-based image editing aims to synthesize and modify photos based on the structural information provided by the human-drawn sketches. Since sketches are difficult to collect, previous methods mainly use edge maps instead of sketches to…