Related papers: Physics-Based 3D Simulation for Synthetic Data Gen…
Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…
As the computer vision matures into a systems science and engineering discipline, there is a trend in leveraging latest advances in computer graphics simulations for performance evaluation, learning, and inference. However, there is an open…
Designing physical artifacts that serve a purpose - such as tools and other functional structures - is central to engineering as well as everyday human behavior. Though automating design has tremendous promise, general-purpose methods do…
This paper presents a synthetic multimodal dataset of daily activities that fuses video data from a 3D virtual space simulator with knowledge graphs depicting the spatiotemporal context of the activities. The dataset is developed for the…
Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…
Systems engineering approaches use high-level models to capture the architecture and behavior of the system. However, when safety engineers conduct safety and reliability analysis, they have to create formal models, such as fault-trees,…
Autonomous vehicles operate in highly dynamic environments necessitating an accurate assessment of which aspects of a scene are moving and where they are moving to. A popular approach to 3D motion estimation, termed scene flow, is to employ…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Programmable Logic Controllers (PLCs) are widely used in industrial automation to control physical systems. As PLC applications become increasingly complex, ensuring their correctness is crucial. Existing formal verification techniques…
We identify the need for a gamified self-driving simulator where game mechanics encourage high-quality data capture, and design and apply such a simulator to collecting lane-following training data. The resulting synthetic data enables a…
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…
Estimating simulation-ready scenes from real-world observations is crucial for downstream planning and policy learning tasks. Regretfully, existing methods struggle in cluttered environments, often exhibiting prohibitive computational cost,…
Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…
Within a logistics supply chain, a large variety of transported goods need to be handled, recognized and checked at many different network points. Often, huge manual effort is involved in recognizing or verifying packet identity or…
Machine learned interatomic potentials (MLIPs) have emerged as powerful tools for molecular dynamics (MD) simulations with their competitive accuracy and computational efficiency. However, MLIPs are often observed to exhibit un-physical…
Realistic object interactions are crucial for creating immersive virtual experiences, yet synthesizing realistic 3D object dynamics in response to novel interactions remains a significant challenge. Unlike unconditional or text-conditioned…
High-fidelity physics simulations are powerful tools in the design and optimization of charged particle accelerators. However, the computational burden of these simulations often limits their use in practice for design optimization and…
With the popularity of electric vehicles, the demand for lithium-ion batteries is increasing. Temperature significantly influences the performance and safety of batteries. Battery thermal management systems can effectively control the…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
The high-pressure transportation process of pipeline necessitates an accurate hydraulic transient simulation tool to prevent slack line flow and over-pressure, which can endanger pipeline operations. However, current numerical solution…