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We propose a reduced-space elasto-dynamic solver that is well suited for augmenting rigged character animations with secondary motion. At the core of our method is a novel deformation subspace based on Linear Blend Skinning that overcomes…
This paper presents a data-efficient approach to learning transferable forward models for robotic push manipulation. Our approach extends our previous work on contact-based predictors by leveraging information on the pushed object's local…
Space plasma simulations have seen an increase in the use of magnetohydrodynamic (MHD) with embedded Particle-in-Cell (PIC) models. This combined MHD-EPIC algorithm simulates some regions of interest using the kinetic PIC method while…
We present a simple and computationally efficient coarse-grained and solvent-free model for simulating lipid bilayer membranes. In order to be used in concert with particle-based reaction-diffusion simulations, the model is purely based on…
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…
Few-shot adaptation is an important capability for intelligent robots that perform tasks in open-world settings such as everyday environments or flexible production. In this paper, we propose a novel approach for non-prehensile manipulation…
We present a methodology for estimating collision risk from counterfactual simulated scenarios built on sensor data from automated driving systems (ADS) or naturalistic driving databases. Two-agent conflicts are assessed by detecting and…
Physically-based simulation is a powerful approach for 3D facial animation as the resulting deformations are governed by physical constraints, allowing to easily resolve self-collisions, respond to external forces and perform realistic…
Elliptic Partial Differential Equations (PDEs) play a central role in computing the equilibrium conditions of physical problems (heat, gravitation, electrostatics, etc.). Efficient solutions to elliptic PDEs are also relevant to computer…
Fluid-Structure Interaction (FSI) can be investigated by means of non-linear Finite Element Models (FEM), suitable to capture large deflections of structural parts interacting with fluids, and Computational Fluid Dynamics (CFD). High…
We propose a probabilistic shape completion method extended to the continuous geometry of large-scale 3D scenes. Real-world scans of 3D scenes suffer from a considerable amount of missing data cluttered with unsegmented objects. The problem…
Throughout computational science, there is a growing need to utilize the continual improvements in raw computational horsepower to achieve greater physical fidelity through scale-bridging over brute-force increases in the number of mesh…
Simplifying complex 3D meshes is a crucial step in robotics applications to enable efficient motion planning and physics simulation. Common methods, such as approximate convex decomposition, represent a mesh as a collection of simple parts,…
Muscle-based systems have the potential to provide both anatomical accuracy and semantic interpretability as compared to blendshape models; however, a lack of expressivity and differentiability has limited their impact. Thus, we propose…
This article presents new algorithms for massively parallel granular dynamics simulations on distributed memory architectures using a domain partitioning approach. Collisions are modelled with hard contacts in order to hide their…
In this paper we propose and test the validity of simple and easy-to-implement algorithms within the immersed boundary framework geared towards large scale simulations involving thousands of deformable bodies in highly turbulent flows.…
Simulations of many rigid bodies colliding with each other sometimes yield particularly interesting results if the colliding objects differ significantly in size and are non-spherical. The most expensive part within such a simulation code…
In this paper we present a new approach for dynamic motion planning for legged robots. We formulate a trajectory optimization problem based on a compact form of the robot dynamics. Such a form is obtained by projecting the rigid body…
We present a novel parallel algorithm for cloth simulation that exploits multiple GPUs for fast computation and the handling of very high resolution meshes. To accelerate implicit integration, we describe new parallel algorithms for sparse…
The conventional no-slip boundary condition leads to a non-integrable stress singularity at a moving contact line. This makes numerical simulations challenging, especially when capillary effects are essential for the dynamics of the flow.…