Related papers: FusionCut: Boundary Representation (B-Rep) Based 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…
Sweeping is a powerful and versatile method of designing objects. Boundary of volumes (henceforth envelope) obtained by sweeping solids have been extensively investigated in the past, though, obtaining an accurate parametrization of the…
Traditional explicit 3D representations, such as point clouds and meshes, demand significant storage to capture fine geometric details and require complex indexing systems for surface lookups, making functional representations an efficient,…
X-ray computed tomography (CT) reconstructs the internal morphology of a three dimensional object from a collection of projection images, most commonly using a single rotation axis. However, for objects containing dense materials like…
Achieving physically accurate object manipulation in image editing is essential for its potential applications in interactive world models. However, existing visual generative models often fail at precise spatial manipulation, resulting in…
Multi-sensor fusion is essential for an accurate and reliable autonomous driving system. Recent approaches are based on point-level fusion: augmenting the LiDAR point cloud with camera features. However, the camera-to-LiDAR projection…
Robotic systems are typically composed of various subsystems, such as localization and navigation, each encompassing numerous configurable components (e.g., selecting different planning algorithms). Once an algorithm has been selected for a…
This paper is devoted to the construction and analysis of immersed finite element (IFE) methods in three dimensions. Different from the 2D case, the points of intersection of the interface and the edges of a tetrahedron are usually not…
Reconstructing physically valid 3D scenes from single-view observations is a prerequisite for bridging the gap between visual perception and robotic control. However, in scenarios requiring precise contact reasoning, such as robotic…
Today there is a high variety of haptic devices capable of providing tactile feedback. Although most of existing designs are aimed at realistic simulation of the surface properties, their capabilities are limited in attempts of displaying…
Fully Homomorphic Encryption (FHE) provides a powerful paradigm for secure computation, but its practical adoption is severely hindered by the prohibitive computational cost of its bootstrapping procedure. The complexity of all current…
A three-dimensional multi-scale computational homogenisation framework is developed for the prediction of nonlinear micro/meso-mechanical response of the fibre-reinforced polymer (FRP) composites. Two dominant damage mechanisms, i.e. matrix…
Robot-assisted neurological surgery is receiving growing interest due to the improved dexterity, precision, and control of surgical tools, which results in better patient outcomes. However, such systems often limit surgeons' natural sensory…
Boundary representation (B-rep) is the standard 3D modeling format in CAD systems, encoding both geometric primitives and topological connectivity. Despite its prevalence, deep generative modeling of valid B-rep structures remains…
Machine knitted textiles are complex multi-scale material structures increasingly important in many industries, including consumer products, architecture, composites, medical, and military. Computational modeling, simulation, and design of…
Computer-aided design (CAD) is the backbone of modern industrial design, yet learned CAD generators still fall short of real engineering pipelines: they neither iterate like engineers nor evaluate what engineering requires. Prior work has…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
Embodied Artificial Intelligence (Embodied AI) is an emerging frontier in robotics, driven by the need for autonomous systems that can perceive, reason, and act in complex physical environments. While single-arm systems have shown strong…
We introduce a deep appearance model for rendering the human face. Inspired by Active Appearance Models, we develop a data-driven rendering pipeline that learns a joint representation of facial geometry and appearance from a multiview…
As robotics progresses toward general manipulation, dexterous hands are becoming increasingly critical. However, proprioception in dexterous hands remains a bottleneck due to limitations in volume and generality. In this work, we present…