Related papers: DiffSDFSim: Differentiable Rigid-Body Dynamics Wit…

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…

Shape-from-Template (SfT) methods estimate 3D surface deformations from a single monocular RGB camera while assuming a 3D state known in advance (a template). This is an important yet challenging problem due to the under-constrained nature…

This paper presents a novel approach using sensitivity analysis for generalizing Differential Dynamic Programming (DDP) to systems characterized by implicit dynamics, such as those modelled via inverse dynamics and variational or implicit…

Probabilistic diffusion models have achieved state-of-the-art results for image synthesis, inpainting, and text-to-image tasks. However, they are still in the early stages of generating complex 3D shapes. This work proposes Diffusion-SDF, a…

In this paper, we propose a learning-based framework for non-rigid shape registration without correspondence supervision. Traditional shape registration techniques typically rely on correspondences induced by extrinsic proximity, therefore…

Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that…

We introduce some new forensics based on differential imaging, where a novel category of visual evidence created via subtle interactions of light with a scene, such as dim reflections, can be computationally extracted and amplified from an…

Neural 3D implicit representations learn priors that are useful for diverse applications, such as single- or multiple-view 3D reconstruction. A major downside of existing approaches while rendering an image is that they require evaluating…

Differentiable simulation of soft bodies is a foundation for system identification, trajectory optimization, and Real2Sim transfer. Yet, existing methods such as the differentiable Projective Dynamics (DiffPD) struggle when faced with…

We present a method to automatically compute correct gradients with respect to geometric scene parameters in neural SDF renderers. Recent physically-based differentiable rendering techniques for meshes have used edge-sampling to handle…

In this work we present a novel approach for computing correspondences between non-rigid objects, by exploiting a reduced representation of deformation fields. Different from existing works that represent deformation fields by training a…

Realistic simulation of dynamic scenes requires accurately capturing diverse material properties and modeling complex object interactions grounded in physical principles. However, existing methods are constrained to basic material types…

Developing world models that understand complex physical interactions is essential for advancing robotic planning and simulation.However, existing methods often struggle to accurately model the environment under conditions of data scarcity…

Accurate 3D models of the human heart require not only correct outer surfaces but also realistic inner structures, such as the ventricles, atria, and myocardial layers. Approaches relying on implicit surfaces, such as signed distance…

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…

Dynamics simulation with frictional contacts is important for a wide range of applications, from cloth simulation to object manipulation. Recent methods using smoothed lagged friction forces have enabled robust and differentiable simulation…

Accurate and robust modelling of large deformation three dimensional contact interaction is an important area of engineering, but it is also challenging from a computational mechanics perspective. This is particularly the case when there is…

Fast and efficient collision detection is essential for motion generation in robotics. In this paper, we propose an efficient collision detection framework based on the Signed Distance Field (SDF) of robots, seamlessly integrated with a…

Rich geometric understanding of the world is an important component of many robotic applications such as planning and manipulation. In this paper, we present a modular pipeline for pose and shape estimation of objects from RGB-D images…

Neural radiance fields (NeRF) have driven impressive progress in view synthesis by using ray-traced volumetric rendering. Splatting-based methods such as 3D Gaussian Splatting (3DGS) provide faster rendering by rasterizing 3D primitives.…