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Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…
The increasing demand for larger and higher fidelity simulations has made Adaptive Mesh Refinement (AMR) and unstructured mesh techniques essential to focus compute effort and memory cost on just the areas of interest in the simulation…
This work proposes a new formulation to the long-standing problem of convex decomposition through learning feature fields, enabling the first feed-forward model for open-world convex decomposition. Our method produces high-quality…
An accurate, physically-based, and differentiable model of soft robots can unlock downstream applications in optimal control. The Finite Element Method (FEM) is an expressive approach for modeling highly deformable structures such as…
Spatially localized deformation components are very useful for shape analysis and synthesis in 3D geometry processing. Several methods have recently been developed, with an aim to extract intuitive and interpretable deformation components.…
Any solid object can be decomposed into a collection of convex polytopes (in short, convexes). When a small number of convexes are used, such a decomposition can be thought of as a piece-wise approximation of the geometry. This…
Converting a three-dimensional medical image into a 3D mesh that satisfies both the quality and fidelity constraints of predictive simulations and image-guided surgical procedures remains a critical problem. Presented is an image-to-mesh…
Automating the assembly of objects from their parts is a complex problem with innumerable applications in manufacturing, maintenance, and recycling. Unlike existing research, which is limited to target segmentation, pose regression, or…
The proliferation of 3D representations, from explicit meshes to implicit neural fields and more, motivates the need for simulators agnostic to representation. We present a data-, mesh-, and grid-free solution for elastic simulation for any…
The typical goal of surface remeshing consists in finding a mesh that is (1) geometrically faithful to the original geometry, (2) as coarse as possible to obtain a low-complexity representation and (3) free of bad elements that would hamper…
Polygonal meshes have become the standard for discretely approximating 3D shapes, thanks to their efficiency and high flexibility in capturing non-uniform shapes. This non-uniformity, however, leads to irregularity in the mesh structure,…
Whole-body mesh recovery aims to estimate the 3D human body, face, and hands parameters from a single image. It is challenging to perform this task with a single network due to resolution issues, i.e., the face and hands are usually located…
Meshes are commonly used as 3D maps since they encode the topology of the scene while being lightweight. Unfortunately, 3D meshes are mathematically difficult to handle directly because of their combinatorial and discrete nature. Therefore,…
Mesh optimization procedures are generally a combination of node smoothing and discrete operations which affect a small number of elements to improve the quality of the overall mesh. These procedures are useful as a post-processing step in…
Advancing robotic manipulation of deformable objects can enable automation of repetitive tasks across multiple industries, from food processing to textiles and healthcare. Yet robots struggle with the high dimensionality of deformable…
For designing a wide range of everyday objects, the design process should be aware of both the human body and the underlying semantics of the design specification. However, these two objectives present significant challenges to the current…
We introduce MeshGPT, a new approach for generating triangle meshes that reflects the compactness typical of artist-created meshes, in contrast to dense triangle meshes extracted by iso-surfacing methods from neural fields. Inspired by…
An important ingredient of any moving-mesh method for fluid-structure interaction (FSI) problems is the mesh deformation technique (MDT) used to adapt the computational mesh in the moving fluid domain. An ideal technique is computationally…
We present an optimization procedure for generic polygonal or polyhedral meshes, tailored for the Virtual Element Method (VEM). Once the local quality of the mesh elements is analyzed through a quality indicator specific to the VEM, groups…
The creation of a volumetric mesh representing the interior of an input polygonal mesh is a common requirement in graphics and computational mechanics applications. Most mesh creation techniques assume that the input surface is not…