Related papers: Single-Level Differentiable Contact Simulation
One of the most important aspects of autonomous systems is safety. This includes ensuring safe human-robot and safe robot-environment interaction when autonomously performing complex tasks or in collaborative scenarios. Although several…
Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate…
We present a method for system identification of flexible objects by measuring forces and displacement during interaction with a manipulating arm. We model the object's structure and flexibility by a chain of rigid bodies connected by…
Accurate vertex-level contact prediction between humans and surrounding objects is a prerequisite for high fidelity human object interaction models used in robotics, AR/VR, and behavioral simulation. DECO was the first in the wild estimator…
Humans naturally "program" a fellow collaborator to perform a task by demonstrating the task few times. It is intuitive, therefore, for a human to program a collaborative robot by demonstration and many paradigms use a single demonstration…
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…
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…
Contact-rich manipulation is difficult for robots to execute and requires accurate perception of the environment. In some scenarios, vision is occluded. The robot can then no longer obtain real-time scene state information through visual…
In multi-robot systems, achieving coordinated missions remains a significant challenge due to the coupled nature of coordination behaviors and the lack of global information for individual robots. To mitigate these challenges, this paper…
The conventional no-slip boundary condition leads to a non-integrable stress singularity at a moving contact line. This makes numerical simulations challenging, especially when capillary effects are essential for the dynamics of the flow.…
Physical simulators have been widely used in robot planning and control. Among them, differentiable simulators are particularly favored, as they can be incorporated into gradient-based optimization algorithms that are efficient in solving…
This paper considers risk-sensitive model predictive control for stochastic systems with a decision-dependent distribution. This class of systems is commonly found in human-robot interaction scenarios. We derive computationally tractable…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
The friction and adhesion between elastic bodies are strongly influenced by the roughness of the surfaces in contact. Here we develop a multiscale molecular dynamics approach to contact mechanics, which can be used also when the surfaces…
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified…
In this paper, a novel approach is proposed for learning robot control in contact-rich tasks such as wiping, by developing Diffusion Contact Model (DCM). Previous methods of learning such tasks relied on impedance control with time-varying…
In many learning settings, it is beneficial to augment the main features with pairwise interactions. Such interaction models can be often enhanced by performing variable selection under the so-called strong hierarchy constraint: an…
Deformable robots are notoriously difficult to model or control due to its high-dimensional configuration spaces. Direct trajectory optimization suffers from the curse-of-dimensionality and incurs a high computational cost, while…
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…
Bilevel programs are optimization problems where some variables are solutions to optimization problems themselves, and they arise in a variety of control applications, including: control of vehicle traffic networks, inverse reinforcement…