Related papers: BrickSim: A Physics-Based Simulator for Manipulati…
Simulating object dynamics from real-world perception shows great promise for digital twins and robotic manipulation but often demands labor-intensive measurements and expertise. We present a fully automated Real2Sim pipeline that generates…
In this research, we tackle the problem of picking an object from randomly stacked pile. Since complex physical phenomena of contact among objects and fingers makes it difficult to perform the bin-picking with high success rate, we consider…
High-fidelity physics simulation is essential for closing the sim-to-real gap in robotics and complex mechanical systems. However, the computational overhead of high-fidelity engines often limits their use in data-intensive tasks like…
3D printers enable end-users to design and fabricate unique physical artifacts but maintain an increased entry barrier and friction. End users must design tangible artifacts through intangible media away from the main problem space…
The scalability of robotic learning is fundamentally bottlenecked by the significant cost and labor of real-world data collection. While simulated data offers a scalable alternative, it often fails to generalize to the real world due to…
Interactive real-time rigid body simulation is a crucial tool in any modern game engine or 3D authoring tool. The quest for fast, robust and accurate simulations is ever evolving. PBRBD (Position Based Rigid Body Dynamics), a recent…
Humanoid whole-body control (WBC) policies trained in simulation often suffer from the sim-to-real gap, which fundamentally arises from simulator inductive bias, the inherent assumptions and limitations of any single simulator. These biases…
BRICKxAR is a novel Augmented Reality (AR) instruction method for construction toys such as LEGO. With BRICKxAR, physical LEGO construction is guided by virtual bricks. Compared with the state-of-the-art, accuracy of the virtual - physical…
Visual understanding of geometric structures with complex spatial relationships is a fundamental component of human intelligence. As children, we learn how to reason about structure not only from observation, but also by interacting with…
Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck for deformable object manipulation. The continuously…
Robotic manipulation and locomotion often entail nearly-simultaneous collisions -- such as heel and toe strikes during a foot step -- with outcomes that are extremely sensitive to the order in which impacts occur. Robotic simulators…
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy,…
Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile simulations suffer from a persistent dilemma: simplified…
The dynamic behaviour of a power system can be described by a system of differential-algebraic equations. Time-domain simulations are used to simulate the evolution of these dynamics. They often require the use of small time step sizes and…
Assembly planning is the core of automating product assembly, maintenance, and recycling for modern industrial manufacturing. Despite its importance and long history of research, planning for mechanical assemblies when given the final…
Selecting an appropriate motor-gearbox combination is a critical design task in robotics because it directly affects cost, mass, and dynamic performance. This process is especially challenging in modular robots with closed kinematic chains,…
Discovering a solution in a combinatorial space is prevalent in many real-world problems but it is also challenging due to diverse complex constraints and the vast number of possible combinations. To address such a problem, we introduce a…
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of solving robotics-related problems. To apply differentiable…
Simulating stiff materials in applications where deformations are either not significant or can safely be ignored is a pivotal task across fields. Rigid body modeling has thus long remained a fundamental tool and is, by far, the most…
In recent years, the concept of kirigami has been used in creating deployable structures for various scientific and technological applications. While high-fidelity Finite Element Analysis (FEA) is the standard for analyzing stress…