Related papers: Empart: Interactive Convex Decomposition for Conve…

We present a novel convex formulation that weakly couples the Material Point Method (MPM) with rigid body dynamics through frictional contact, optimized for efficient GPU parallelization. Our approach features an asynchronous time-splitting…

The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…

Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…

Geometric feature learning for 3D surfaces is critical for many applications in computer graphics and 3D vision. However, deep learning currently lags in hierarchical modeling of 3D surfaces due to the lack of required operations and/or…

Scene reconstruction from multi-view images is a fundamental problem in computer vision and graphics. Recent neural implicit surface reconstruction methods have achieved high-quality results; however, editing and manipulating the 3D…

Aligning partially overlapping point sets where there is no prior information about the value of the transformation is a challenging problem in computer vision. To achieve this goal, we first reduce the objective of the robust point…

We introduce a fast and invertible approximation for data simulated as 2D planar meshes with connectivities along the poloidal dimension in deforming 3D toroidal (donut-like) spaces generated by fusion simulations. In fusion simulations,…

This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane on a mannequin is deformed by inflating several curved…

To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers are incapable of globally optimizing in real-time over the exponential number of possible…

Purpose Surgical simulations play an increasingly important role in surgeon education and developing algorithms that enable robots to perform surgical subtasks. To model anatomy, Finite Element Method (FEM) simulations have been held as the…

Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…

In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…

Data-driven methods have shown great potential in solving challenging manipulation tasks; however, their application in the domain of deformable objects has been constrained, in part, by the lack of data. To address this lack, we propose…

Subsurface geometries are often poorly constrained, yet they exert first-order control on key geophysical processes, including subduction zone thermal structure and earthquake rupture dynamics. Quantifying model sensitivity to geometric…

In the era of Industry 5.0, monitoring human activity is essential for ensuring both ergonomic safety and overall well-being. While multi-camera centralized setups improve pose estimation accuracy, they often suffer from high computational…

Parallel implementation of numerical adaptive mesh refinement (AMR)strategies for solving 3D elastostatic contact mechanics problems is an essential step toward complex simulations that exceed current performance levels. This paper…

Shape assembly, the process of combining parts into a complete whole, is a crucial robotic skill with broad real-world applications. Among various assembly tasks, geometric assembly--where broken parts are reassembled into their original…

Surfaces are typically represented as meshes, which can be extracted from volumetric fields via meshing or optimized directly as surface parameterizations. Volumetric representations occupy 3D space and have a large effective receptive…

We investigate the problem of estimating the 3D shape of an object defined by a set of 3D landmarks, given their 2D correspondences in a single image. A successful approach to alleviating the reconstruction ambiguity is the 3D deformable…

The finite element method (FEM) is among the most commonly used numerical methods for solving engineering problems. Due to its computational cost, various ideas have been introduced to reduce computation times, such as domain decomposition,…