Related papers: DiSECt: A Differentiable Simulation Engine for Aut…
Scanning Transmission Electron Microscopy (STEM) is a critical tool for imaging the properties of materials and biological specimens at atomic scale, yet our understanding of relevant electron beam damage mechanisms is incomplete. Recent…
Tactile sensing is critical for robotic grasping and manipulation of objects under visual occlusion. However, in contrast to simulations of robot arms and cameras, current simulations of tactile sensors have limited accuracy, speed, and…
Contact forces introduce discontinuities into robot dynamics that severely limit the use of simulators for gradient-based optimization. Penalty-based simulators such as MuJoCo, soften contact resolution to enable gradient computation.…
Realistic and interactive scene simulation is a key prerequisite for autonomous vehicle (AV) development. In this work, we present SceneDiffuser, a scene-level diffusion prior designed for traffic simulation. It offers a unified framework…
The industrial insertion of flexible flat cables (FFCs) into receptacles presents a significant challenge owing to the need for submillimeter precision when handling the deformable cables. In manufacturing processes, FFC insertion with…
Continuum robots offer high flexibility and multiple degrees of freedom, making them ideal for navigating narrow lumens. However, accurately modeling their behavior under large deformations and frequent environmental contacts remains…
This work presents a deep learning surrogate model for the fast simulation of high-dimensional frequency selective surfaces. We consider unit-cells which are built as multiple concatenated stacks of screens and their design requires the…
One of the major issues in the computational mechanics is to take into account the geometrical complexity. To overcome this difficulty and to avoid the expensive mesh generation, geometrically unfitted methods, i.e. the numerical methods…
Generating physically plausible human motion is crucial for applications such as character animation and virtual reality. Existing approaches often incorporate a simulator-based motion projection layer to the diffusion process to enforce…
We propose a new microscopy simulation system that can depict atomistic models in a micrograph visual style, similar to results of physical electron microscopy imaging. This system is scalable, able to represent simulation of electron…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Accurate lesion segmentation in whole-body PET/CT scans is crucial for cancer diagnosis and treatment planning, but limited datasets often hinder the performance of automated segmentation models. In this paper, we explore the potential of…
Foundation models have emerged as powerful tools across various domains including language, vision, and multimodal tasks. While prior works have addressed unsupervised image segmentation, they significantly lag behind supervised models. In…
Discrete choice models are essential for modelling various decision-making processes in human behaviour. However, the specification of these models has depended heavily on domain knowledge from experts, and the fully automated but…
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…
Soft robots, particularly magnetic soft robots, require specialized simulation tools to accurately model their deformation under external magnetic fields. However, existing platforms often lack dedicated support for magnetic materials,…
Differentiable programming has emerged as a structural prerequisite for gradient-based inverse problems and end-to-end hybrid physics--machine learning in computational fluid dynamics. However, existing differentiable CFD platforms are…
We introduce a general differentiable solver for time-dependent deformation problems with contact and friction. Our approach uses a finite element discretization with a high-order time integrator coupled with the recently proposed…
Many parallel and distributed computing research results are obtained in simulation, using simulators that mimic real-world executions on some target system. Each such simulator is configured by picking values for parameters that define the…
We present a differentiable pipeline for simulating the motion of objects that represent their geometry as a continuous density field parameterized as a deep network. This includes Neural Radiance Fields (NeRFs), and other related models.…