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An effective paradigm for simulating the dynamics of robots that locomote and manipulate is multi-rigid body simulation with rigid contact. This paradigm provides reasonable tradeoffs between accuracy, running time, and simplicity of…
This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…
6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…
We propose a new multistep deep learning-based algorithm for the resolution of moderate to high dimensional nonlinear backward stochastic differential equations (BSDEs) and their corresponding parabolic partial differential equations (PDE).…
Unsupervised multi-object scene decomposition is a fast-emerging problem in representation learning. Despite significant progress in static scenes, such models are unable to leverage important dynamic cues present in video. We propose a…
We describe a new algorithm to compute the geometric intersection number between two curves, given as edge vectors on an ideal triangulation. Most importantly, this algorithm runs in polynomial time in the bit-size of the two edge vectors.…
We present an elastic simulator for domains defined as evolving implicit functions, which is efficient, robust, and differentiable with respect to both shape and material. This simulator is motivated by applications in 3D reconstruction: it…
Leveraging 3D information within Multimodal Large Language Models (MLLMs) has recently shown significant advantages for indoor scene understanding. However, existing methods, including those using explicit ground-truth 3D positional…
Multiscale modeling is an effective approach for investigating multiphysics systems with largely disparate size features, where models with different resolutions or heterogeneous descriptions are coupled together for predicting the system's…
We present a GPU-friendly framework for real-time implicit simulation of elastic material in the presence of frictional contacts. The integration of hyperelasticity, non-interpenetration contact, and friction in real-time simulations…
Recent breakthroughs in 3D generation have enabled the synthesis of high-fidelity individual assets. However, generating 3D compositional objects from single images--particularly under occlusions--remains challenging. Existing methods often…
Our method studies the complex task of object-centric 3D understanding from a single RGB-D observation. As it is an ill-posed problem, existing methods suffer from low performance for both 3D shape and 6D pose and size estimation in complex…
While visual object detection with deep learning has received much attention in the past decade, cases when heavy intra-class occlusions occur have not been studied thoroughly. In this work, we propose a Non-Maximum-Suppression (NMS)…
Cohesive fracture is among the few techniques able to model complex fracture nucleation and propagation with a sharp (nonsmeared) representation of the crack. Implicit time-stepping schemes are often favored in mechanics due to their…
We develop a new optimisation technique that combines multiresolution subdivision surfaces for boundary description with immersed finite elements for the discretisation of the primal and adjoint problems of optimisation. Similar to wavelets…
In order to optimally design materials, it is crucial to understand the structure-property relations in the material by analyzing the effect of microstructure parameters on the macroscopic properties. In computational homogenization, the…
We develop a new spatial semidiscrete multiscale method based upon the edge multiscale methods to solve semilinear parabolic problems with heterogeneous coefficients and smooth initial data. This method allows for a cheap spatial…
We propose a hybrid image-space/object-space solution to the classical hidden surface removal problem: Given n disjoint triangles in Real^3 and p sample points (``pixels'') in the xy-plane, determine the first triangle directly behind each…
Regular object detection methods output rectangle bounding boxes, which are unable to accurately describe the actual object shapes. Instance segmentation methods output pixel-level labels, which are computationally expensive for real-time…
Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…