Related papers: An improved point-to-surface contact algorithm wit…

Recent advancements have demonstrated that fully Eulerian methods can effectively model frictionless contact between deformable solids. Unlike traditional Lagrangian approaches, which require contact detection and resolution algorithms, the…

Interacting particle systems play a key role in science and engineering. Access to the governing particle interaction law is fundamental for a complete understanding of such systems. However, the inherent system complexity keeps the…

We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact region is a planar non-convex contact patch. Such methods are useful in planning and…

In this paper, we propose a model predictive control (MPC) that accomplishes interactive robotic tasks, in which multiple contacts may occur at unknown locations. To address such scenarios, we made an explicit contact feedback loop in the…

Projected Inverse Dynamics Control (PIDC) is commonly used in robots subject to contact, especially in quadrupedal systems. Many methods based on such dynamics have been developed for quadrupedal locomotion tasks, and only a few works…

Reasoning human object interactions is a core problem in human-centric scene understanding and detecting such relations poses a unique challenge to vision systems due to large variations in human-object configurations, multiple co-occurring…

An efficient and momentum conserving algorithm for enforcing contact between solid bodies is proposed. Previous advances in the material point method (MPM) led to a fast and simple, but potentially momentum violating, strategy for enforcing…

We present a learnable physics-based predictive model that provides accurate motion and force-torque prediction of the robot end effector in contact-rich manipulation. The proposed model extends the state-of-the-art GNN-based simulator…

We outline a phenomenological model to assess friction at the interface between two bodies in mutual contact. Although the approach is general, the application inspiring the approach is the Discrete Element Method. The kinematics of the…

Feature interactions can contribute to a large proportion of variation in many prediction models. In the era of big data, the coexistence of high dimensionality in both responses and covariates poses unprecedented challenges in identifying…

Adversarial attacks on point clouds are crucial for assessing and improving the adversarial robustness of 3D deep learning models. Traditional solutions strictly limit point displacement during attacks, making it challenging to balance…

Monocular estimation of three dimensional human self-contact is fundamental for detailed scene analysis including body language understanding and behaviour modeling. Existing 3d reconstruction methods do not focus on body regions in…

Robust and precise robotic assembly entails insertion of constituent components. Insertion success is hindered when noise in scene understanding exceeds tolerance limits, especially when fabricated with tight tolerances. In this work, we…

In this paper, we present a patch-based representation of surfaces, PolyFit, which is obtained by fitting jet functions locally on surface patches. Such a representation can be learned efficiently in a supervised fashion from both analytic…

Barrier potentials gained popularity as a means for robust contact handling in physical modeling and for modeling self-avoiding shapes. The key to the success of these approaches is adherence to geometric constraints, i.e., avoiding…

Protein contacts provide key information for the understanding of protein structure and function, and therefore contact prediction from sequences is an important problem. Recent research shows that some correctly predicted long-range…

This work deals with shape optimization for contact mechanics. More specifically, the linear elasticity model is considered under the small deformations hypothesis, and the elastic body is assumed to be in contact (sliding or with Tresca…

This article's main scope is the presentation of a computational method for the simulation of contact problems within the finite element method involving complex and rough surfaces. The approach relies on the MPJR (eMbedded Profile for…

In this paper, we introduce a new method for the task of interaction transfer. Given an example interaction between a source object and an agent, our method can automatically infer both surface and spatial relationships for the agent and…

Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial parameters are obtained from CAD models that are not…