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High-resolution imagery is essential for accurate 3D reconstruction, as many geometric details only emerge at fine spatial scales. Recent feed-forward approaches, such as the Visual Geometry Grounded Transformer (VGGT), have demonstrated…
High-dimensional networks play a key role in understanding complex relationships. These relationships are often dynamic in nature and can change with multiple external factors (e.g., time and groups). Methods for estimating graphical models…
Reverse Engineering a CAD shape from other representations is an important geometric processing step for many downstream applications. In this work, we introduce a novel neural network architecture to solve this challenging task and…
We introduce HyperCAN, a machine learning framework that utilizes hypernetworks to construct adaptable constitutive artificial neural networks for a wide range of beam-based metamaterials exhibiting diverse mechanical behavior under finite…
We propose a learning-based navigation system for reaching visually indicated goals and demonstrate this system on a real mobile robot platform. Learning provides an appealing alternative to conventional methods for robotic navigation:…
Tactile sensing has been used for a variety of robotic exploration and manipulation tasks but a common constraint is a requirement for a large amount of training data. This paper addresses the issue of data-efficiency by proposing a novel…
The last decades witnessed the emergence of the field of correlated disordered media, a great challenge offering a large panel of new perspectives for applications in theoretical modelling and material fabrication. The efficient design of…
One of the challenging scientific computing problems is topology optimization, where searching through the combinatorially complex configurations and solving the constraints of partial differential equations need to be done simultaneously.…
Recent feed-forward 3D reconstruction methods, such as visual geometry transformers, have substantially advanced the traditional per-scene optimization paradigm by enabling effective multi-view reconstruction in a single forward pass.…
In this work, we present a reconfigurable data glove design to capture different modes of human hand-object interactions, which are critical in training embodied artificial intelligence (AI) agents for fine manipulation tasks. To achieve…
Foundation models for 3D vision have recently demonstrated remarkable capabilities in 3D perception. However, scaling these models to long-sequence image inputs remains a significant challenge due to inference-time inefficiency. In this…
While successful for various computer vision tasks, deep neural networks have shown to be vulnerable to texture style shifts and small perturbations to which humans are robust. In this work, we show that the robustness of neural networks…
In this work, geometry optimization of mechanical truss using computer-aided finite element analysis is presented. The shape of the truss is a dominant factor in determining the capacity of load it can bear. At a given parameter space, our…
An algorithm for three-dimensional dynamic vehicle-track-structure interaction (VTSI) analysis is described in this paper. The algorithm is described in terms of bridges and high-speed trains, but more generally applies to multibody systems…
Real-world applications of computational fluid dynamics often involve the evaluation of quantities of interest for several distinct geometries that define the computational domain or are embedded inside it. For example, design optimization…
Humans excel at bimanual assembly tasks by adapting to rich tactile feedback -- a capability that remains difficult to replicate in robots through behavioral cloning alone, due to the suboptimality and limited diversity of human…
With the rapid improvement of machine learning (ML) models, cognitive scientists are increasingly asking about their alignment with how humans think. Here, we ask this question for computer vision models and human sensitivity to geometric…
We tackle the task of synthesizing novel views of an object given a few input images and associated camera viewpoints. Our work is inspired by recent 'geometry-free' approaches where multi-view images are encoded as a (global) set-latent…
Underwater navigation is a challenging area in the field of mobile robotics due to inherent constraints in self-localisation and communication in underwater environments. Some of these challenges can be mitigated by using collaborative…
Truss layout design, namely finding a lightweight truss layout satisfying all the physical constraints, is a fundamental problem in the building industry. Generating the optimal layout is a challenging combinatorial optimization problem,…