Related papers: Gaussian-Augmented Physics Simulation and System I…
One object class may show large variations due to diverse illuminations, backgrounds and camera viewpoints. Traditional object detection methods often perform worse under unconstrained video environments. To address this problem, many…
Artificial objects usually have very stable shape features, which are stable, persistent properties in geometry. They can provide evidence for object recognition. Shape features are more stable and more distinguishing than appearance…
Finite element simulations of frictional multi-body contact problems via conformal meshes can be challenging and computationally demanding. To render geometrical features, unstructured meshes must be used and this unavoidably increases the…
We present a method for differentiable simulation of soft articulated bodies. Our work enables the integration of differentiable physical dynamics into gradient-based pipelines. We develop a top-down matrix assembly algorithm within…
Knowledge of the physical material properties governing the dynamics of a real-world object becomes necessary to accurately anticipate its response to unseen interactions. Existing methods for estimating such physical material parameters…
Object detection in remote sensing imagery plays a vital role in various Earth observation applications. However, unlike object detection in natural scene images, this task is particularly challenging due to the abundance of small, often…
We present a fast and feature-complete differentiable physics engine, Nimble (nimblephysics.org), that supports Lagrangian dynamics and hard contact constraints for articulated rigid body simulation. Our differentiable physics engine offers…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
The Material Point Method (MPM) is a hybrid Eulerian Lagrangian simulation technique for solid mechanics with significant deformation. Structured background grids are commonly employed in the standard MPM, but they may give rise to several…
For robotic systems to interact with objects in dynamic environments, it is essential to perceive the physical properties of the objects such as shape, friction coefficient, mass, center of mass, and inertia. This not only eases selecting…
Establishing consistent and dense correspondences across multiple images is crucial for Structure from Motion (SfM) systems. Significant view changes, such as air-to-ground with very sparse view overlap, pose an even greater challenge to…
Multispectral pedestrian detection is a crucial component in various critical applications. However, a significant challenge arises due to the misalignment between these modalities, particularly under real-world conditions where data often…
In this paper, we propose composable part-based manipulation (CPM), a novel approach that leverages object-part decomposition and part-part correspondences to improve learning and generalization of robotic manipulation skills. By…
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…
An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…
Current physics models used to interpret experimental measurements of particle beams require either simplifying assumptions to be made in order to ensure analytical tractability, or black box optimization methods to perform model based…
Realistic simulation of dynamic scenes requires accurately capturing diverse material properties and modeling complex object interactions grounded in physical principles. However, existing methods are constrained to basic material types…
This paper proposes a new set of conditions for exactly representing collision avoidance constraints within optimization-based motion planning algorithms. The conditions are continuously differentiable and therefore suitable for use with…
Contactless and non-invasive estimation of mechanical properties of physical media from optical observations is of interest for manifold engineering and biomedical applications, where direct physical measurements are not possible.…
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…