Related papers: Scalable Real-Time Vehicle Deformation for Interac…
In various applications, such as virtual reality and gaming, simulating the deformation of soft tissues in the human body during interactions with external objects is essential. Traditionally, Finite Element Methods (FEM) have been employed…
Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
This study presents a rigid-deformation decomposition framework for vehicle collision dynamics that mitigates the spectral bias of implicit neural representations, that is, coordinate-based neural networks that directly map spatio-temporal…
Rapid transit of emergency vehicles is critical for saving lives and reducing property loss but often relies on surrounding ordinary vehicles to cooperatively adjust their driving behaviors. It is important to ensure rapid transit of…
In this paper, it is presented a methodology to estimate the deformation involved between two objects attending to its physical properties. This methodology can be used, for example, in Computational Vision or Computer Graphics…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs…
We have developed a simulation technique that uses non-linear finite element analysis and elastic fracture mechanics to compute physically plausible motion for three-dimensional, solid objects as they break, crack, or tear. When these…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
Road vehicles contribute to significant levels of greenhouse gas (GHG) emissions. A potential strategy for improving their aerodynamic efficiency and reducing emissions is through active adaptation of their exterior shapes to the…
While dense visual SLAM methods are capable of estimating dense reconstructions of the environment, they suffer from a lack of robustness in their tracking step, especially when the optimisation is poorly initialised. Sparse visual SLAM…
Automatic estimation of skinning transformations is a popular way to deform a single reference shape into a new pose by providing a small number of control parameters. We generalize this approach by efficiently enabling the use of multiple…
Material deformation and failure under impact loading is a subject of active investigation in space science and often requires very specialized equipment for testing. In this work, we present the design, operational analysis and application…
Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…
While recent developments in autonomous vehicle (AV) technology highlight substantial progress, we lack tools for rigorous and scalable testing. Real-world testing, the $\textit{de facto}$ evaluation environment, places the public in…
Dynamic substructuring (DS) methods encompass a range of techniques to decompose large structural systems into multiple coupled subsystems. This decomposition has the principle benefit of reducing computational time for dynamic simulation…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
For the shape control of deformable free-form surfaces, simulation plays a crucial role in establishing the mapping between the actuation parameters and the deformed shapes. The differentiation of this forward kinematic mapping is usually…
Plastic deformation of most crystalline materials is due to the motion of lattice dislocations. Therefore, the simulation of the interaction and dynamics of these defects has become state-of-the-art method to study work hardening, size…