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Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…
We present a novel AI-assisted method for decomposing (segmenting) planar CAD (computer-aided design) models into well shaped rectangular blocks as a proof-of-principle of a general decomposition method applicable to complex 2D and 3D CAD…
Numerous applications require algorithms that can align partially overlapping point sets while maintaining invariance to geometric transformations (e.g., similarity, affine, rigid). This paper introduces a novel global optimization method…
An efficient and effective decoding mechanism is crucial in medical image segmentation, especially in scenarios with limited computational resources. However, these decoding mechanisms usually come with high computational costs. To address…
We present the AMPS algorithm, a finite element solution method that combines principal submatrix updates and Schur complement techniques, well-suited for interactive simulations of deformation and cutting of finite element meshes. Our…
Adaptive representations are increasingly indispensable for reducing the in-memory and on-disk footprints of large-scale data. Usual solutions are designed broadly along two themes: reducing data precision, e.g., through compression, or…
In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained…
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…
UV unwrapping flattens 3D surfaces to 2D with minimal distortion, often requiring the complex surface to be decomposed into multiple charts. Although extensively studied, existing UV unwrapping methods frequently struggle with AI-generated…
Parametric models of humans, faces, hands and animals have been widely used for a range of tasks such as image-based reconstruction, shape correspondence estimation, and animation. Their key strength is the ability to factor surface…
3D meshes are a fundamental representation widely used in computer science and engineering. In robotics, they are particularly valuable because they capture objects in a form that aligns directly with how robots interact with the physical…
The rapid growth of 3D content from modern reconstruction and generative pipelines, such as neural rendering and large-scale 3D asset generation, has led to an abundance of dense, noisy, and often non-manifold meshes. While these…
The cost and accuracy of simulating complex physical systems using the Finite Element Method (FEM) scales with the resolution of the underlying mesh. Adaptive meshes improve computational efficiency by refining resolution in critical…
This paper presents a new progressive compression method for triangular meshes. This method, in fact, is based on a schema of irregular multi-resolution analysis and is centered on the optimization of the rate-distortion trade-off. The…
The Finite Element Method (FEM) is a powerful modeling tool for predicting the behavior of soft robots. However, its use for control can be difficult for non-specialists of numerical computation: it requires an optimization of the…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…
The idea of using fragment embedding to circumvent the high computational scaling of accurate electronic structure methods while retaining high accuracy has been a long-standing goal for quantum chemists. Traditional fragment embedding…
With the advancement of computer vision, dynamic 3D reconstruction techniques have seen significant progress and found applications in various fields. However, these techniques generate large amounts of 3D data sequences, necessitating…
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…
This paper describes a method for fast simplification of surface meshes. Whereas past methods focus on visual appearance, our goal is to solve equations on the surface. Hence, rather than approximate the extrinsic geometry, we construct a…