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Coupling cyber and physical systems gives rise to numerous engineering challenges and opportunities. An important challenge is the contagion of failure from one system to another, which can lead to large-scale cascading failures. However,…
Model Recovery (MR) enables safe, explainable decision making in mission-critical autonomous systems (MCAS) by learning governing dynamical equations, but its deployment on edge devices is hindered by the iterative nature of neural ordinary…
Accurate reconstruction of implanted knee models is crucial in orthopedic surgery and biomedical engineering, enhancing preoperative planning, optimizing implant design, and improving surgical outcomes. Traditional methods rely on…
We propose a unified mechanism that reproduces the sequence of dynamical transitions observed during somitogenesis, the process of body segmentation during embryonic development, that is invariant across all vertebrate species. This is…
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree…
In several papers published in Biological Cybernetics in the 1980s and 1990s, Kawato and colleagues proposed computational models explaining how internal models are acquired in the cerebellum. These models were later supported by…
The success of style-based generators largely benefits from style modulation, which helps take care of the cross-instance variation within data. However, the instance-wise stochasticity is typically introduced via regular convolution, where…
Industrial CAD workflows require robust, generalizable 3D geometric representations supporting accuracy and explainability. We introduce Shape, a self-supervised foundation model converting surface meshes into dense per-token embeddings.…
The simulation of morphogenetic problems requires the simultaneous and coupled simulation of signalling and tissue dynamics. A cellular resolution of the tissue domain is important to adequately describe the impact of cell-based events,…
This paper presents Coralai, a framework for exploring diverse ecosystems of Neural Cellular Automata (NCA). Organisms in Coralai utilize modular, GPU-accelerated Taichi kernels to interact, enact environmental changes, and evolve through…
The tendon-driven musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex muscle and bone structures is difficult and conventional model-based controls cannot realize intended movements. Therefore,…
We study self-organization in a minimally nonlinear model of large random ecosystems. Populations evolve over time according to a piecewise linear system of ordinary differential equations subject to a non-negativity constraint resulting in…
In the paper, we present an integrated data-driven modeling framework based on process modeling, material homogenization, mechanistic machine learning, and concurrent multiscale simulation. We are interested in the injection-molded short…
We discuss a general procedure to construct an integrable real-time trotterization of interacting lattice models. As an illustrative example we consider a spin-$1/2$ chain, with continuous time dynamics described by the isotropic ($XXX$)…
Grid cells in the entorhinal cortex are believed to establish their regular, spatially correlated firing patterns by path integration of the animal's motion. Mechanisms for path integration, e.g. in attractor network models, predict…
The dynamics and processes of urban morphogenesis are a central issue regarding a long-term sustainability of urban systems. They however imply stakeholders and parameters at multiple temporal and spatial scales simultaneously, leading to…
Motion generation from discrete quantization offers many advantages over continuous regression, but at the cost of inevitable approximation errors. Previous methods usually quantize the entire body pose into one code, which not only faces…
The segmentation module which precisely outlines the nodules is a crucial step in a computer-aided diagnosis(CAD) system. The most challenging part of such a module is how to achieve high accuracy of the segmentation, especially for the…
Biological systems can form complex three-dimensional structures through the collective behavior of agents that share a common update rule and operate without central control. How such distributed control gives rise to precise global…
We demonstrate a simple method by which time-dependent interactions can be exploited to improve self-assembly in colloidal systems. We apply this method to two systems: a model colloid with short-ranged attractive potentials that undergoes…