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Parallel implementation of numerical adaptive mesh refinement (AMR)strategies for solving 3D elastostatic contact mechanics problems is an essential step toward complex simulations that exceed current performance levels. This paper…
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…
We present a novel convex formulation that weakly couples the Material Point Method (MPM) with rigid body dynamics through frictional contact, optimized for efficient GPU parallelization. Our approach features an asynchronous time-splitting…
A new approach to the kinetic simulation of plasmas in complex geometries, based on the Particle-in- Cell (PIC) simulation method, is explored. In the two dimensional (2d) electrostatic version of our method, called the Arbitrary…
Convex model predictive controls (MPCs) with a single rigid body model have demonstrated strong performance on real legged robots. However, convex MPCs are limited by their assumptions such as small rotation angle and pre-defined gait,…
Computationally weak systems and demanding graphical applications are still mostly dependent on linear blendshapes for facial animations. The accompanying artifacts such as self-intersections, loss of volume, or missing soft tissue…
We present a method for the efficient processing of contact and collision in volumetric elastic models simulated using the Projective Dynamics paradigm. Our approach enables interactive simulation of tetrahedral meshes with more than half a…
This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…
In this work a novel method for the analysis with trimmed CAD surfaces is presented. The method involves an additional mapping step and the attraction stems from its sim- plicity and ease of implementation into existing Finite Element (FEM)…
Existing digital human models approximate the human skeletal system using rigid bodies connected by rotational joints. While the simplification is considered acceptable for legs and arms, it significantly lacks fidelity to model rich torso…
Modern optimizers such as AdamW, equipped with momentum and adaptive learning rate, are designed to escape local minima and explore the vast parameter space. This exploration is beneficial for finding good loss basins when training from…
Constrained model predictive control (MPC) is a widely used control strategy, which employs moving horizon-based on-line optimisation to compute the optimum path of the manipulated variables. Nonlinear MPC can utilize detailed models but it…
Abinit is a widely used scientific software package implementing density functional theory and many related functionalities for excited states and response properties. This paper presents the novel features and capabilities, both technical…
The alternating direction method of multipliers (ADMM) is a popular approach for solving optimization problems that are potentially non-smooth and with hard constraints. It has been applied to various computer graphics applications,…
We propose a general, prior-free approach for the uncalibrated non-rigid structure-from-motion problem for modelling and analysis of non-rigid objects such as human faces. The word general refers to an approach that recovers the non-rigid…
We present an efficient spacetime optimization method to automatically generate animations for a general volumetric, elastically deformable body. Our approach can model the interactions between the body and the environment and automatically…
We present a fast and feature-complete differentiable physics engine, Nimble (nimblephysics.org), that supports Lagrangian dynamics and hard contact constraints for articulated rigid body simulation. Our differentiable physics engine offers…
The ability to reason about and predict the outcome of contacts is paramount to the successful execution of many robot tasks. Analytical rigid-body contact models are used extensively in planning and control due to their computational…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
-Molecular simulations allow the study of properties and interactions of molecular systems. This article presents an improved version of the Adaptive Resolution Scheme that links two systems having atomistic (also called fine-grained) and…