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We introduce a method for efficiently computing the exact shortest path to the boundary of a mesh from a given internal point in the presence of self-intersections. We provide a formal definition of shortest boundary paths for…
4D reconstruction of human-object interaction is critical for immersive VR/AR experience and human activity understanding. Recent advances still fail to recover fine geometry and texture results from sparse RGB inputs, especially under…
Embedded deformation nodes based formulation has been widely applied in deformable geometry and graphical problems. Though being promising in stereo (or RGBD) sensor based SLAM applications, it remains challenging to keep constant speed in…
The numerical integration of stochastic trajectories to estimate the time to pass a threshold is an interesting physical quantity, for instance in Josephson junctions and atomic force microscopy, where the full trajectory is not accessible.…
Immersed methods discretize boundary conditions for complex geometries on background Cartesian grids. This makes such methods especially suitable for two-way coupled flow-body problems, where the body mechanics are partially driven by…
Temporal Interaction Graphs (TIGs) are widely employed to model intricate real-world systems such as financial systems and social networks. To capture the dynamism and interdependencies of nodes, existing TIG embedding models need to…
We introduce a robust, real-time, high-resolution human video matting method that achieves new state-of-the-art performance. Our method is much lighter than previous approaches and can process 4K at 76 FPS and HD at 104 FPS on an Nvidia GTX…
A simulation framework based on the level-set and the immersed boundary methods (LS-IBM) has been developed for reactive transport problems in porous media involving a moving solid-fluid interface. The interface movement due to surface…
We present a principled method for dynamic simulation of rigid bodies in intermittent contact with each other where the contact is assumed to be a non-convex contact patch that can be modeled as a union of convex patches. The prevalent…
Differentiable simulation establishes the mathematical foundation for solving challenging inverse problems in computer graphics and robotics, such as physical system identification and inverse dynamics control. However, rigor in frictional…
Urban scene reconstruction requires modeling both static infrastructure and dynamic elements while supporting diverse environmental conditions. We present \textbf{StyledStreets}, a multi-style street simulator that achieves…
Image segmentation plays an important role in computer vision, object detection, traffic control, and video surveillance. Typically, it is a critical step in the 3D reconstruction of a specific organ in medical image processing which…
This paper addresses the problem of dynamic scene surface reconstruction using Gaussian Splatting (GS), aiming to recover temporally consistent geometry. While existing GS-based dynamic surface reconstruction methods can yield superior…
Building an efficient and physically consistent world model from limited observations is a long standing challenge in vision and robotics. Many existing world modeling pipelines are based on implicit generative models, which are hard to…
In recent years, dual-arm manipulation has become an area of strong interest in robotics, with end-to-end learning emerging as the predominant strategy for solving bimanual tasks. A critical limitation of such learning-based approaches,…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…
We equip dynamic geometry software (DGS) with a user-friendly method that enables massively parallel calculations on the graphics processing unit (GPU). This interplay of DGS and GPU opens up various applications in education and…
Physical simulation predicts future states of objects based on material properties and external loads, enabling blueprints for both Industry and Engineering to conduct risk management. Current 3D reconstruction-based simulators typically…
Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…
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…