Related papers: ADD: Analytically Differentiable Dynamics for Mult…
Fast-Fourier Transform (FFT) methods have been widely used in solid mechanics to address complex homogenization problems. However, current FFT-based methods face challenges that limit their applicability to intricate material models or…
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
We present Aquarium, a differentiable fluid-structure interaction solver for robotics that offers stable simulation, accurately coupled fluid-robot physics in two dimensions, and full differentiability with respect to fluid and robot states…
High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…
We present a quasi-static finite element simulator for human face animation. We model the face as an actuated soft body, which can be efficiently simulated using Projective Dynamics (PD). We adopt Incremental Potential Contact (IPC) to…
We outline a phenomenological model to assess friction at the interface between two bodies in mutual contact. Although the approach is general, the application inspiring the approach is the Discrete Element Method. The kinematics of the…
Generating realistic human motion sequences from text descriptions is a challenging task that requires capturing the rich expressiveness of both natural language and human motion.Recent advances in diffusion models have enabled significant…
Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been…
Articulated objects used in simulation and embodied AI are typically specified by geometry and kinematic structure, but lack the fine-grained dynamical effects that govern realistic mechanical behavior, such as frictional holding, detents,…
For robotic systems to interact with objects in dynamic environments, it is essential to perceive the physical properties of the objects such as shape, friction coefficient, mass, center of mass, and inertia. This not only eases selecting…
We present a newly developed approach for the calculation of interfacial stiffness and contact area evolution between two rough bodies exhibiting self affine surface structures. Using spline assisted discretization to define localised…
Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradient directions. However, we show that when dealing with…
We study the frictional adhesive contact of a rigid insulating sphere sliding past a multiferroic coating deposed onto a rigid substrate, based on the hybrid element method (HEM). The adhesion behavior is described based on the…
Accurate physical simulation is crucial for the development and validation of control algorithms in robotic systems. Recent works in Reinforcement Learning (RL) take notably advantage of extensive simulations to produce efficient robot…
This work presents a concise theoretical and computational framework for the finite element formulation of frictional contact problems with arbitrarily large deformation and sliding. The aim of this work is to extend the contact theory…
Collision detection appears as a canonical operation in a large range of robotics applications from robot control to simulation, including motion planning and estimation. While the seminal works on the topic date back to the 80s, it is only…
Soft lubricated contacts exhibit complex interfacial behaviours governed by the coupled effects of multiscale surface roughness and non-linear fluid-solid interactions. Accurately capturing this interplay across thin-film flows is…
Recent model simulations discovered unexpected non-monotonic features in the wear-free dry phononic friction as a function of the sliding speed. Here we demonstrate that a rather straight- forward application of linear-response theory,…
Multibody dynamics simulators are an important tool in many fields, including learning and control for robotics. However, many existing dynamics simulators suffer from inaccuracies when dealing with constrained mechanical systems due to…