Related papers: Smooth-Rigid-Body Contact as a ReLCP: A Recursivel…
In this paper, we present an efficient semismooth Newton method, named SSNCP, for solving a class of semidefinite programming problems. Our approach is rooted in an equivalent semismooth system derived from the saddle point problem induced…
The quasistatic normal-compliance contact problem of isotropic homogeneous linear visco-elastic bodies with Coulomb friction at small strains in Kelvin-Voigt rheology is considered. The discretization is made by a semi-implicit formula in…
In this paper, elliptic optimal control problems involving the $L^1$-control cost ($L^1$-EOCP) is considered. To numerically discretize $L^1$-EOCP, the standard piecewise linear finite element is employed. However, different from the finite…
Point pattern matching problems are of fundamental importance in various areas including computer vision and structural bioinformatics. In this paper, we study one of the more general problems, known as LCP (largest common point set…
In this paper, we introduce a novel parallel contact algorithm designed to run efficiently in High-Performance Computing based supercomputers. Particular emphasis is put on its computational implementation in a multiphysics finite element…
Large-scale linear complementarity problems (LCPs) are repeatedly solved in interactive rigid-body simulations. The projected Gauss-Seidel method is often employed for LCPs, since it has advantages in computation time, numerical robustness,…
Contact-implicit motion planning-embedding contact sequencing as implicit complementarity constraints-holds the promise of leveraging continuous optimization to discover new contact patterns online. Nevertheless, the resulting optimization,…
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…
In this paper, we introduce a novel convex formulation that seamlessly integrates the Material Point Method (MPM) with articulated rigid body dynamics in frictional contact scenarios. We extend the linear corotational hyperelastic model…
The problem of finding suitable point embedding or geometric configurations given only Euclidean distance information of point pairs arises both as a core task and as a sub-problem in a variety of machine learning applications. In this…
We present a real-time algorithm that finds the Penetration Depth (PD) between general polygonal models based on iterative and local optimization techniques. Given an in-collision configuration of an object in configuration space, we find…
We use the concept of barrier-based smoothing approximations introduced in [ C. B. Chua and Z. Li, A barrier-based smoothing proximal point algorithm for NCPs over closed convex cones, SIOPT 23(2), 2010] to extend the non-interior…
We present successive convexification, a real-time-capable solution method for nonconvex trajectory optimization, with continuous-time constraint satisfaction and guaranteed convergence, that only requires first-order information. The…
Topological defects -- locations of local mismatch of order -- are a universal concept playing important roles in diverse systems studied in physics and beyond, including the universe, various condensed matter systems, and recently, even…
Proximity gaps and correlated agreement have become central tools in the analysis of interactive oracle proofs of proximity (IOPPs) and code-based SNARKs. Informally, a proximity-gap statement says that for a structured set of words -- such…
The computational modeling of many engineering problems using the Finite Element method involves the modeling of two or more bodies that meet through an interface. The interface can be physical, as in multi-physics and contact problems, or…
We present a fast and feature-complete differentiable physics engine, Nimble (nimblephysics.org), that supports Lagrangian dynamics and hard contact constraints for articulated rigid body simulation. Our differentiable physics engine offers…
This paper revisits the fundamental equations for the solution of the frictionless unilateral normal contact problem between a rough rigid surface and a linear elastic half-plane using the boundary element method (BEM). After recasting the…
Contact-implicit trajectory optimization (CITO) enables the automatic discovery of contact sequences, but most methods rely on fine time discretization to capture all contact events accurately, which increases problem size and runtime while…
The Molecular Distance Geometry Problem (MDGP) is essential in structural biology, as it seeks to determine three-dimensional protein structures from partial interatomic distances. Its discretizable subclass (DMDGP) admits an exact…