Related papers: Contact Points Discovery for Soft-Body Manipulatio…
The objective of this work is the development of a novel finite element formulation describing the contact interaction of slender beams in complex 3D configurations involving arbitrary beam-to-beam orientations. It is shown in a…
The paper considers rotations at different scales in granular materials: the rotations of individual particles, the rolling and rigid-rotation of particle pairs, the rotational interactions of a particle within its cluster of neighbors, and…
Existing point cloud representation learning methods primarily rely on data-driven strategies to extract geometric information from large amounts of scattered data. However, most methods focus solely on the spatial distribution features of…
Differentiable simulation enables gradients to be back-propagated through physics simulations. In this way, one can learn the dynamics and properties of a physics system by gradient-based optimization or embed the whole differentiable…
We present a novel, fast differentiable simulator for soft-body learning and control applications. Existing differentiable soft-body simulators can be classified into two categories based on their time integration methods: Simulators using…
Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…
Deep learning-based garment draping has emerged as a promising alternative to traditional Physics-Based Simulation (PBS), yet robust collision handling remains a critical bottleneck. Most existing methods enforce physical validity through…
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.…
Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich tasks like locomotion is complicated by the inherently…
When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as knives, forks and spoons. Similarly, robots may benefit from…
Intraoperative observation of tissue internal structure is often difficult. Hence, real-time soft tissue deformation is essential for the localization of tumor and other internal structures. We propose a method to simulate the internal…
The computational modeling of many engineering problems using the Finite Element method involves the modeling of two or more bodies that meet through an interface. The interface can be physical, as in multi-physics and contact problems, or…
Transformers are powerful visual learners, in large part due to their conspicuous lack of manually-specified priors. This flexibility can be problematic in tasks that involve multiple-view geometry, due to the near-infinite possible…
Finite element simulations of frictional multi-body contact problems via conformal meshes can be challenging and computationally demanding. To render geometrical features, unstructured meshes must be used and this unavoidably increases the…
Multi-solid systems are foundational to a wide range of real-world applications, yet modeling their complex interactions remains challenging. Existing deep learning methods predominantly rely on implicit modeling, where the factors…
We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors. While various sensing approaches with single sensors have…
Part-level representations are essential for robust person re-identification. However, common errors that arise during pedestrian detection frequently result in severe misalignment problems for body parts, which degrade the quality of part…
In this paper, we propose a novel unfitted finite element method for the simulation of multiple body contact. The computational mesh is generated independently of the geometry of the interacting solids, which can be arbitrarily complex. The…
Research in manipulation of deformable objects is typically conducted on a limited range of scenarios, because handling each scenario on hardware takes significant effort. Realistic simulators with support for various types of deformations…
Distributed sensor arrays capable of detecting multiple spatially distributed stimuli are considered an important element in the realisation of exteroceptive and proprioceptive soft robots. This paper expands upon the previously presented…