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We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…
The control of robotic systems in complex, shared collaborative workspaces presents significant challenges in achieving robust performance and safety when learning from experienced or simulated data is employed in the pipeline. A primary…
Simulating large-scale articulated assemblies poses a significant challenge due to the numerical stiffness and geometric complexity of jointed structures. Conventional rigid body solvers struggle with the high nonlinearity induced by…
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…
We present Jade, a differentiable physics engine for articulated rigid bodies. Jade models contacts as the Linear Complementarity Problem (LCP). Compared to existing differentiable simulations, Jade offers features including…
In this paper, we present DAT, a Depth-Aware Transformer framework designed for camera-based 3D detection. Our model is based on observing two major issues in existing methods: large depth translation errors and duplicate predictions along…
Quantum embedding approaches involve the self-consistent optimization of a local fragment of a strongly correlated system, entangled with the wider environment. The `energy-weighted' density matrix embedding theory (EwDMET) was established…
Recently, an {\it algebraic-dynamical theory} (ADT) for strongly interacting many-body quantum Hamiltonians in W. Ding, arXiv: 2202.12082 (2022). By introducing the complete operator basis set, ADT proposes a generic framework for…
We extend our density matrix embedding theory (DMET) [Phys. Rev. Lett. 109 186404 (2012)] from lattice models to the full chemical Hamiltonian. DMET allows the many-body embedding of arbitrary fragments of a quantum system, even when such…
We present a fast and feature-complete differentiable physics engine, Nimble (nimblephysics.org), that supports Lagrangian dynamics and hard contact constraints for articulated rigid body simulation. Our differentiable physics engine offers…
We present a new framework for studying conformal field theories deformed by one or more relevant operators. The original CFT is described in infinite volume using a basis of states with definite momentum, $P$, and conformal Casimir,…
Accurate representation of interfaces and flux exchange is vital for coupled multiphysics simulations across a broad range of applications. Currently, coupling approaches are limited by the underlying discretization or to specific physical…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
Density Functional Theory (DFT) is widely used for atomistic simulations. However, its reach stays limited due to several limitations such as lack of accurate exchange-correlation functional, requirement of costly O(N 3) diagonalization…
Continuous unitary transformations are a powerful tool to extract valuable information out of quantum many-body Hamiltonians, in which the so-called flow equation transforms the Hamiltonian to a diagonal or block-diagonal form in second…
Atmospheric Turbulence (AT) degrades the clarity and accuracy of surveillance imagery, posing challenges not only for visualization quality but also for object classification and scene tracking. Deep learning-based methods have been…
Symmetry Topological Field Theory (SymTFT) is a framework to capture universal features of quantum many-body systems by viewing them as a boundary of topological order in one higher dimension. This has yielded numerous insights in static…
In this work, we examine a numerical phase-field fracture framework in which the crack irreversibility constraint is treated with a primal-dual active set method and a linearization is used in the degradation function to enhance the…
Many interesting phenomena are characterized by the complex interaction of different physical processes, each often best modeled numerically via a specific approach. In this paper, we present the design and implementation of an…
The dynamical symmetries of the Fermion Dynamical Symmetry Model are used as a principle of truncation for the spherical shell model. Utilizing the usual principle of energy-dictated truncation to select a valence space, and…