Related papers: BrickSim: A Physics-Based Simulator for Manipulati…
A design concept is introduced for the building block, a dot, of programmable braille readers utilizing bistable shell buckling, magnetic actuation, and pneumatic loading. The design process is guided by Finite Element simulations, which…
We introduce a method to automatically compute LEGO Technic models from user input sketches, optionally with motion annotations. The generated models resemble the input sketches with coherently-connected bricks and simple layouts, while…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
Robotic imitation learning has achieved impressive success in learning complex manipulation behaviors from demonstrations. However, many existing robot learning methods do not explicitly account for the physical symmetries of robotic…
Simulated virtual environments serve as one of the main driving forces behind developing and evaluating skill learning algorithms. However, existing environments typically only simulate rigid body physics. Additionally, the simulation…
In the field of brittle fracture animation, generating realistic destruction animations using physics-based simulation methods is computationally expensive. While techniques based on Voronoi diagrams or pre-fractured patterns are effective…
Nonlinearities and instabilities in mechanical structures have shown great promise for embedding advanced functionalities. However, simulating structures subject to nonlinearities can be challenging due to the complexity of their behavior,…
Machine-learning interatomic potentials (MLIPs) offer a powerful avenue for simulations beyond length and timescales of ab initio methods. Their development for investigation of mechanical properties and fracture, however, is far from…
While self-supervised pretraining has reduced vision systems' reliance on synthetic data, simulation remains an indispensable tool for closed-loop optimization and rigorous out-of-distribution (OOD) evaluation. However, modern simulation…
This paper introduces the recent release v3.1a of BRTSim (BioReactive Transport Simulator), a general-purpose multiphase and multi-species liquid, gas and heat flow solver for reaction-advection-dispersion processes in porous and non-porous…
Friction between ordered, atomically smooth surfaces at the nanoscale (nanofriction) is often governed by stick-slip processes. To test long-standing atomistic models of such processes, we implement a synthetic nanofriction interface…
Soft composite solids are made of inclusions dispersed within soft matrices. They are ubiquitous in nature and form the basis of many biological tissues. In the field of materials science, synthetic soft composites are promising candidates…
Creating assembly products demands significant manual effort and expert knowledge in 1) designing the assembly and 2) constructing the product. This paper introduces Prompt-to-Product, an automated pipeline that generates real-world…
Developing and testing algorithms for autonomous vehicles in real world is an expensive and time consuming process. Also, in order to utilize recent advances in machine intelligence and deep learning we need to collect a large amount of…
Educational simulations have long been recognized as powerful tools for enhancing learning outcomes, yet their creation has traditionally required substantial resources and technical expertise. This paper introduces MicroSims a novel…
To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig that fits to the shapes of assembly parts. The functionality of the soft jig is based on a jamming gripper developed in the…
We present a method for differentiable simulation of soft articulated bodies. Our work enables the integration of differentiable physical dynamics into gradient-based pipelines. We develop a top-down matrix assembly algorithm within…
Understanding how stick-slip dynamics manifests in diverse physical conditions is a crucial topic in tribology. Although it has been extensively studied in simple frictional configurations, the characterization of stick-slip behavior in…
Quantum computing has shown great potential in various quantum chemical applications such as drug discovery, material design, and catalyst optimization. Although significant progress has been made in quantum simulation of simple molecules,…
Generating physically buildable brick structures from 3D shapes requires more than geometric reconstruction: the output must also satisfy discrete part constraints and structural stability. Existing brick generation methods either rely on…