Related papers: Physics-Based 3D Simulation for Synthetic Data Gen…

We consider the problem of estimating an object's physical properties such as mass, friction, and elasticity directly from video sequences. Such a system identification problem is fundamentally ill-posed due to the loss of information…

In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This…

Simulating particle dynamics with high fidelity is crucial for solving real-world interaction and control tasks involving liquids in design, graphics, and robotics. Recently, data-driven approaches, particularly those based on graph neural…

For driver observation frameworks, clean datasets collected in controlled simulated environments often serve as the initial training ground. Yet, when deployed under real driving conditions, such simulator-trained models quickly face the…

As compute power increases with time, more involved and larger simulations become possible. However, it gets increasingly difficult to efficiently use the provided computational resources. Especially in particle-based simulations with a…

Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…

It has been shown recently that physics-based simulation significantly enhances the disassembly capabilities of real-world assemblies with diverse 3D shapes and stringent motion constraints. However, the efficiency suffers when tackling…

This study proposes a simulation framework of procurement operations in the container logistics industry that can support the development of dynamic procurement strategies. The idea is inspired by the success of Passenger Origin-Destination…

The emergence of connected vehicles is driven by increasing customer and regulatory demands. To meet these, more complex software applications, some of which require service-based cloud and edge backends, are developed. When new software is…

In the past few years, the technology of automated guided vehicles (AGVs) has notably advanced. In particular, in the context of factory and warehouse automation, different approaches have been presented for detecting and localizing pallets…

Modeling complex physical dynamics is a fundamental task in science and engineering. Traditional physics-based models are sample efficient, and interpretable but often rely on rigid assumptions. Furthermore, direct numerical approximation…

Automating pallet handling in outdoor logistics and construction environments remains challenging due to unstructured scenes, variable pallet configurations, and changing environmental conditions. In this paper, we present Lang2Lift, an…

We present a sound and automated approach to synthesize safe digital feedback controllers for physical plants represented as linear, time invariant models. Models are given as dynamical equations with inputs, evolving over a continuous…

The transition from two-dimensional (2D) to three-dimensional (3D) granular packings is studied using large-scale discrete element computer simulations. We focus on vertical stress profiles and examine how they change with dimensionality…

Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…

Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…

Stably placing an object in a multi-object scene is a fundamental challenge in robotic manipulation, as placements must be penetration-free, establish precise surface contact, and result in a force equilibrium. To assess stability, existing…

As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…

Simulation has played an important role in efficiently evaluating self-driving vehicles in terms of scalability. Existing methods mostly rely on heuristic-based simulation, where traffic participants follow certain human-encoded rules that…

Intelligent transportation systems (ITSs) and other smart-city technologies are increasingly advancing in capability and complexity. While simulation environments continue to improve, their fidelity and ease of use can quickly degrade as…