Related papers: Convex Primitive Decomposition for Collision Detec…
Recent advances in radiance field reconstruction, such as 3D Gaussian Splatting (3DGS), have achieved high-quality novel view synthesis and fast rendering by representing scenes with compositions of Gaussian primitives. However, 3D…
The abstraction of 3D objects with simple geometric primitives like cuboids allows to infer structural information from complex geometry. It is important for 3D shape understanding, structural analysis and geometric modeling. We introduce a…
The task of shape abstraction with semantic part consistency is challenging due to the complex geometries of natural objects. Recent methods learn to represent an object shape using a set of simple primitives to fit the target.…
The convex hull is a fundamental geometrical structure for many applications where groups of points must be enclosed or represented by a convex polygon. Although efficient sequential convex hull algorithms exist, and are constantly being…
Humans perceive and construct the world as an arrangement of simple parametric models. In particular, we can often describe man-made environments using volumetric primitives such as cuboids or cylinders. Inferring these primitives is…
Our goal is to develop an efficient contact detection algorithm for large-scale GPU-based simulation of non-convex objects. Current GPU-based simulators such as IsaacGym and Brax must trade-off speed with fidelity, generality, or both when…
Cooperative robots can significantly assist people in their productive activities, improving the quality of their works. Collision detection is vital to ensure the safe and stable operation of cooperative robots in productive activities. As…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
Convolution is a compute-intensive operation placed at the heart of Convolution Neural Networks (CNNs). It has led to the development of many high-performance algorithms, such as Im2col-GEMM, Winograd, and Direct-Convolution. However, the…
This paper reviews some recent applications of the theory of the compensated convex transforms or of the proximity hull as developed by the authors to image processing and shape interrogation with special attention given to the Hausdorff…
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…
We present a novel convex formulation that models rigid and deformable bodies coupled through frictional contact. The formulation incorporates a new corotational material model with positive semi-definite Hessian, which allows us to extend…
Accurate 3D shape abstraction from a single 2D image is a long-standing problem in computer vision and graphics. By leveraging a set of primitives to represent the target shape, recent methods have achieved promising results. However, these…
Humans perceive and construct the surrounding world as an arrangement of simple parametric models. In particular, man-made environments commonly consist of volumetric primitives such as cuboids or cylinders. Inferring these primitives is an…
Convolutional neural networks are now seeing widespread use in a variety of fields, including image classification, facial and object recognition, medical imaging analysis, and many more. In addition, there are applications such as…
This paper presents a family of algorithms for decentralized convex composite problems. We consider the setting of a network of agents that cooperatively minimize a global objective function composed of a sum of local functions plus a…
This extended abstract provides a short introduction on our recently developed perception-based controller for quadrupedal locomotion. Compared to our previous approach based on Visual Foothold Adaptation (VFA) and Model Predictive Control…
We present a method for the efficient processing of contact and collision in volumetric elastic models simulated using the Projective Dynamics paradigm. Our approach enables interactive simulation of tetrahedral meshes with more than half a…
Collision detection is essential to virtually all robotics applications. However, traditional geometric collision detection methods generally require pre-existing workspace geometry representations; thus, they are unable to infer the…
Real-time rendering and animation of humans is a core function in games, movies, and telepresence applications. Existing methods have a number of drawbacks we aim to address with our work. Triangle meshes have difficulty modeling thin…