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The introduction of assistive construction robots can significantly alleviate physical demands on construction workers while enhancing both the productivity and safety of construction projects. Leveraging a Building Information Model (BIM)…
Scalable sensor simulation is an important yet challenging open problem for safety-critical domains such as self-driving. Current works in image simulation either fail to be photorealistic or do not model the 3D environment and the dynamic…
Physics simulation for contact-rich robotics is often bottlenecked by contact resolution: mainstream engines enforce non-penetration and Coulomb friction via complementarity constraints or constrained optimization, requiring per-step…
Soft robots offer adaptability and safe interaction with complex environments. Rapid prototyping kits that allow soft robots to be assembled easily will allow different geometries to be explored quickly to suit different environments or to…
This study proposes a reinforcement learning-based adaptive running motion simulation for a unilateral transtibial amputee with the flexibility of a leaf-spring-type sports prosthesis using hybrid-link system. The design and selection of…
Polymer-Attenuated Coulombic Self-Assembly (PACS) is a flexible experimental approach for generating crystals from simple colloidal building blocks. The central components are charged spherical particles coated with a polymer brush that…
Robotic imitation learning typically requires models that capture multimodal action distributions while operating at real-time control rates and accommodating multiple sensing modalities. Although recent generative approaches such as…
This paper proposes a new substructuring technique for hybrid simulation of steel braced frame structures under seismic loading in which a new machine learning-based model is used to predict the hysteretic response of steel braces.…
We present a novel Relativistic Semi-Implicit Method (RelSIM) for particle-in-cell (PIC) simulations of astrophysical plasmas, implemented in a code framework ready for production runs. While explicit PIC methods have gained widespread…
Simulating collisions of deformable objects is a fundamental yet challenging task due to the complexity of modeling solid mechanics and multi-body interactions. Existing data-driven methods often suffer from lack of equivariance to physical…
We present GridFF, an efficient method for simulating molecules on rigid substrates, derived from techniques used in protein-ligand docking in biochemistry. By projecting molecule-substrate interactions onto precomputed spatial grids with…
Matter-RADiation interaction SIMulation (MRADSIM) is an innovative modular software toolkit developed to simulate the effects of radiation on electronic components, human beings and various materials. It incorporates innovative features…
World models have become indispensable tools for embodied intelligence, serving as powerful simulators capable of generating realistic robotic videos while addressing critical data scarcity challenges. However, current embodied world models…
This paper presents a novel particle method to compute strongly coupled incompressible fluid and rigid bodies. The method adopts a velocity-based formulation and utilizes the linear complementarity problem for the incompressibility…
Recent advances in digital avatar technology have enabled the generation of compelling virtual characters, but deploying these avatars on compute-constrained devices poses significant challenges for achieving realistic garment deformations.…
This technical report provides an in-depth evaluation of both established and state-of-the-art methods for simulating constrained rigid multi-body systems with hard-contact dynamics, using formulations of Nonlinear Complementarity Problems…
Event cameras provide high temporal precision, low data rates, and high dynamic range visual perception, which are well-suited for optical flow estimation. While data-driven optical flow estimation has obtained great success in RGB cameras,…
The central approximation made in classical molecular dynamics simulation of materials is the interatomic potential used to calculate the forces on the atoms. Great effort and ingenuity is required to construct viable functional forms and…
Crack growth is the basic mechanism leading to the failure of brittle materials. Engineering addresses this problem within the framework of continuum mechanics, which links deterministically the crack motion to the applied loading. Such an…
Simulation-based inference has been popular for amortized Bayesian computation. It is typical to have more than one posterior approximation, from different inference algorithms, different architectures, or simply the randomness of…