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The 3D bin packing problem, with its diverse industrial applications, has garnered significant research attention in recent years. Existing approaches typically model it as a discrete and static process, while real-world applications…
We present a framework for the simulation of rigid and deformable bodies in the presence of contact and friction. Our method is based on a non-smooth Newton iteration that solves the underlying nonlinear complementarity problems (NCPs)…
The great learning ability of deep learning models facilitates us to comprehend the real physical world, making learning to simulate complicated particle systems a promising endeavour. However, the complex laws of the physical world pose…
Physics-based differentiable rendering (PBDR) has become an efficient method in computer vision, graphics, and machine learning for addressing an array of inverse problems. PBDR allows patterns to be generated from perceptions which can be…
The rapid advancement in physical human-robot interaction (HRI) has accelerated the development of soft robot designs and controllers. Controlling soft robots, especially soft hand grasping, is challenging due to their continuous…
Roadheader is an engineering robot widely used in underground engineering and mining industry. Interactive dynamics simulation of roadheader is a fundamental problem in unmanned excavation and virtual reality training. However, current…
Realistic object interactions are crucial for creating immersive virtual experiences, yet synthesizing realistic 3D object dynamics in response to novel interactions remains a significant challenge. Unlike unconditional or text-conditioned…
The high computational cost associated with solving for detailed chemistry poses a significant challenge for predictive computational fluid dynamics (CFD) simulations of turbulent reacting flows. These models often require solving a system…
Molecular dynamics (MD) simulation with modified Brenner's reactive empirical bond order (REBO) potential is a powerful tool to investigate plasma wall interaction on divertor plates in a nuclear fusion device. However, MD simulation box's…
Current trends in the computer graphics community propose leveraging the massive parallel computational power of GPUs to accelerate physically based simulations. Collision detection and solving is a fundamental part of this process. It is…
We present a hydrodynamic simulation system using the GPU compute shaders of DirectX for simulating virtual agent behaviors and navigation inside a smoothed particle hydrodynamical (SPH) fluid environment with real-time water mesh surface…
Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a major challenge lies in accurately understanding human…
Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…
Contact forces introduce discontinuities into robot dynamics that severely limit the use of simulators for gradient-based optimization. Penalty-based simulators such as MuJoCo, soften contact resolution to enable gradient computation.…
We propose in this paper a Proper Generalized Decomposition (PGD) approach for the solution of problems in linear elastodynamics. The novelty of the work lies in the development of weak formulations of the PGD problems based on the…
It is desired to equip robots with the capability of interacting with various soft materials as they are ubiquitous in the real world. While physics simulations are one of the predominant methods for data collection and robot training,…
This dissertation presents a method for simulation of motion of the pebbles in a PBR. A new mechanical motion simulator, PEBBLES, efficiently simulates the key elements of motion of the pebbles in a PBR. This model simulates gravitational…
We describe an implementation of a particle physics module available for the PLUTO code, appropriate for the dynamical evolution of a plasma consisting of a thermal fluid and a non-thermal component represented by relativistic charged…
Hybrid particle-field methods are computationally efficient approaches for modelling soft matter systems. So far applications of these methodologies have been limited to constant volume conditions. Here, we reformulate particle-field…
Dissipative particle dynamics (DPD) belongs to a class of models and computational algorithms developed to address mesoscale problems in complex fluids and soft matter in general. It is based on the notion of particles that represent…