Related papers: Midplane based 3D single pass unbiased segment-to-…
We present a deep learning method that propagates point-wise feature representations across shapes within a collection for the purpose of 3D shape segmentation. We propose a cross-shape attention mechanism to enable interactions between a…
3D Gaussian Splatting has achieved remarkable success in reconstructing both static and dynamic 3D scenes. However, in a scene represented by 3D Gaussian primitives, interactions between objects suffer from inaccurate 3D segmentation,…
This paper presents a novel sharp front-tracking method designed to address limitations in classical front-tracking approaches, specifically their reliance on smooth interpolation kernels and extended stencils for coupling the front and…
In this work, we address the limitation of surface fitting-based grasp planning algorithm, which primarily focuses on geometric alignment between the gripper and object surface while overlooking the stability of contact point distribution,…
Differentiable contact kinematics are essential for gradient-based methods in robotics, yet the mapping from robot state to contact distance, location, and normal becomes non-smooth in degenerate configurations of shapes with zero or…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information about rigid-body dynamics in the presence…
In Part I of this two part series, we presented a multi-neighbor dependent contact model for adhesive elastic-plastic particles built upon the method of dimensionality reduction that is valid for the elastic and fully-plastic contact…
Programming the static friction of mechanical interfaces is critical for soft robotics, haptics, and precision gripping. Static friction is governed by the real contact area, and standard rough surfaces exhibit a linear area-load scaling…
We develop two new continuum contact models for coupled adhesion and friction, and discuss them in the context of existing models proposed in the literature. Our new models are able to describe sliding friction even under tensile normal…
The interaction of an interfacial crack with small impurities is analysed on the basis of an asymptotic formula derived by the authors. The interaction between the main crack and the defects (e.g. small cracks or inclusions) is described…
We propose a unified iterative framework for the solution of frictionless mechanical contact problems, which relies exclusively on the solution of standard stiffness systems. The framework is built upon a two-step fixed-point algorithm:…
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…
We develop an efficient reduced basis method for the frictional contact problem formulated using Nitsche's method. We focus on the regime of small deformations and on Tresca friction. The key idea ensuring the computational efficiency of…
This work proposes a novel model and numerical formulation for lubricated contact problems describing the mutual interaction between two deformable 3D solid bodies and an interposed fluid film. The solid bodies are consistently described…
Contact and related phenomena, such as friction, wear or elastohydrodynamic lubrication, remain as one of the most challenging problem classes in nonlinear solid and structural mechanics. In the context of their computational treatment with…
3D grasp synthesis generates grasping poses given an input object. Existing works tackle the problem by learning a direct mapping from objects to the distributions of grasping poses. However, because the physical contact is sensitive to…
The article proposes a new method for finding the triangle-triangle intersection in 3D space, based on the use of computer graphics algorithms -- cutting off segments on the plane when moving and rotating the beginning of the coordinate…
In order to simulate the mechanical behavior of large structures assembled from thin composite panels, we propose a coupling technique which substitutes local 3D models for the global plate model in the critical zones where plate modeling…
We address the problem of tracking 3D object poses from touch during in-hand manipulations. Specifically, we look at tracking small objects using vision-based tactile sensors that provide high-dimensional tactile image measurements at the…
Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D…