Related papers: Higher Order Continuity for Smooth As-Rigid-As-Pos…

The free-form deformation model can represent a wide range of non-rigid deformations by manipulating a control point lattice over the image. However, due to a large number of parameters, it is challenging to fit the free-form deformation…

Variance-reduced gradient estimators for policy gradient methods have been one of the main focus of research in the reinforcement learning in recent years as they allow acceleration of the estimation process. We propose a variance-reduced…

Shape-morphing metamaterials enable adaptive structures capable of complex functional deformations, with applications ranging from reconfigurable structures and soft robotics to medical devices. However, their design remains challenging due…

We introduce a class of first-order methods for smooth constrained optimization that are based on an analogy to non-smooth dynamical systems. Two distinctive features of our approach are that (i) projections or optimizations over the entire…

We introduce a sample-efficient method for learning state-dependent stiffness control policies for dexterous manipulation. The ability to control stiffness facilitates safe and reliable manipulation by providing compliance and robustness to…

The development of higher order finite elements methods has become an active research area. The deformation method for mesh generation has achieved a prescribed positive Jacobian determinant constraint and it has been a useful method for…

We address dynamic manipulation of deformable linear objects by presenting SPiD, a physics-informed self-supervised learning framework that couples an accurate deformable object model with an augmented self-supervised training strategy. On…

We propose and analyze an Accelerated Rearrangement Method (ARM) for solving a class of nonconvex optimization problems involving two-phase composites. These problems include maximizing the (work) energy of a membrane governed by the…

In this work, we propose a high-order multiscale method for an elliptic model problem with rough and possibly highly oscillatory coefficients. Convergence rates of higher order are obtained using the regularity of the right-hand side only.…

We present an $hr$-adaptivity framework for optimization of high-order meshes. This work extends the $r$-adaptivity method for mesh optimization by Dobrev et al., where we utilized the Target-Matrix Optimization Paradigm (TMOP) to minimize…

Optimising a ranking-based metric, such as Average Precision (AP), is notoriously challenging due to the fact that it is non-differentiable, and hence cannot be optimised directly using gradient-descent methods. To this end, we introduce an…

Gradient-based methods can efficiently optimize controllers by leveraging differentiable simulation and physical priors. However, contact-rich manipulation remains challenging because hybrid contact dynamics often produce discontinuous or…

Computational analysis with the finite element method requires geometrically accurate meshes. It is well known that high-order meshes can accurately capture curved surfaces with fewer degrees of freedom in comparison to low-order meshes.…

We present Geometry in Style, a new method for identity-preserving mesh stylization. Existing techniques either adhere to the original shape through overly restrictive deformations such as bump maps or significantly modify the input shape…

Modeling contact between deformable solids is a fundamental problem in computer animation, mechanical design, and robotics. Existing methods based on $C^0$-discretizations -- piece-wise linear or polynomial surfaces -- suffer from…

This work presents a high-order finite-difference adaptive mesh refinement (AMR) framework for robust simulation of shock-turbulence interaction problems. A staggered-grid arrangement, in which solution points are stored at cell centers…

This paper presents a novel p-adaptive, high-order mesh-free framework for the accurate and efficient simulation of fluid flows in complex geometries. High-order differential operators are constructed locally for arbitrary node…

Phase-shifting profilometry (PSP) enables high-accuracy 3D reconstruction but remains highly susceptible to object motion. Although numerous studies have explored compensation for motion-induced errors, residual inaccuracies still persist,…

In this article, we propose a shape optimization algorithm which is able to handle large deformations while maintaining a high level of mesh quality. Based on the method of mappings we introduce a nonlinear extension operator, which links a…

Soft robotics has emerged as the standard solution for grasping deformable objects, and has proven invaluable for mobile robotic exploration in extreme environments. However, despite this growth, there are no widely adopted computational…