Related papers: A dynamic implicit 3D material point-to-rigid body…

We reconstruct 3D deformable object through time, in the context of a live pottery making process where the crafter molds the object. Because the object suffers from heavy hand interaction, and is being deformed, classical techniques cannot…

Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…

A topology optimization approach for designing large deformation contact-aided shape morphing compliant mechanisms is presented. Such mechanisms can be used in varying operating conditions. Design domains are described by regular hexagonal…

Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force closure. Current approaches to non-prehensile manipulation…

In this work we present a novel approach for computing correspondences between non-rigid objects, by exploiting a reduced representation of deformation fields. Different from existing works that represent deformation fields by training a…

Capturing both geometry and rigid motion for structured dynamic objects, like multi-part assemblies or jointed mechanisms, remains a key challenge. Existing dynamic methods, such as deformable meshes or 3DGS, rely on unstructured…

Deformable linear objects (e.g., cables, ropes, and threads) commonly appear in our everyday lives. However, perception of these objects and the study of physical interaction with them is still a growing area. There have already been…

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…

The Material Point Method (MPM) is widely used to analyse coupled (solid-water) problems under large deformations/displacements. However, if not addressed carefully, MPM u-p formulations for poro-mechanics can be affected by two major…

Deep implicit surfaces excel at modeling generic shapes but do not always capture the regularities present in manufactured objects, which is something simple geometric primitives are particularly good at. In this paper, we propose a…

Granular impact -- the dynamic intrusion of solid objects into granular media -- is widespread across scientific and engineering applications including geotechnics. Existing approaches for simulating granular impact dynamics have relied on…

Perception research provides strong evidence in favor of part based representation of shapes in human visual system. Despite considerable differences among different theories in terms of how part boundaries are found, there is substantial…

We present MatDecompSDF, a novel framework for recovering high-fidelity 3D shapes and decomposing their physically-based material properties from multi-view images. The core challenge of inverse rendering lies in the ill-posed…

Deformable object manipulation (DOM) with point clouds has great potential as non-rigid 3D shapes can be measured without detecting and tracking image features. However, robotic shape control of deformable objects with point clouds is…

A number of recent studies have focused on developing surgical simulation platforms to train machine learning (ML) agents or models with synthetic data for surgical assistance. While existing platforms excel at tasks such as rigid body…

Flexible slender structures such as rods, ribbons, plates, and shells exhibit extreme nonlinear responses bending, twisting, buckling, wrinkling, and self contact, that defy conventional simulation frameworks. Discrete Differential Geometry…

Non-rigid shape deformations pose significant challenges, and most existing methods struggle to handle partial deformations effectively. We propose to learn deformations at the point level, which allows for localized control of 3D surface…

Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…

Deformable object manipulation presents a unique set of challenges in robotic manipulation by exhibiting high degrees of freedom and severe self-occlusion. State representation for materials that exhibit plastic behavior, like modeling clay…

The ability to interact and understand the environment is a fundamental prerequisite for a wide range of applications from robotics to augmented reality. In particular, predicting how deformable objects will react to applied forces in real…