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This work presents a novel physics-informed deep learning based super-resolution framework to reconstruct high-resolution deformation fields from low-resolution counterparts, obtained from coarse mesh simulations or experiments. We leverage…
Compression of soft bodies is central to biology, materials science, and robotics, yet existing contact theories break down at large deformations. Here, we develop a general framework for soft-body compression by extending the method of…
In this paper, we introduce FMapping, an efficient neural field mapping framework that facilitates the continuous estimation of a colorized point cloud map in real-time dense RGB SLAM. To achieve this challenging goal without depth, a…
3D Gaussian Splatting has demonstrated remarkable real-time rendering capabilities and superior visual quality in novel view synthesis for static scenes. Building upon these advantages, researchers have progressively extended 3D Gaussians…
In recent years, imitation learning has made progress in the field of robotic manipulation. However, it still faces challenges when addressing complex long-horizon tasks with deformable objects, such as high-dimensional state spaces,…
We propose a neural physics system for real-time, interactive fluid simulations. Traditional physics-based methods, while accurate, are computationally intensive and suffer from latency issues. Recent machine-learning methods reduce…
Manipulating volumetric deformable objects in the real world, like plush toys and pizza dough, bring substantial challenges due to infinite shape variations, non-rigid motions, and partial observability. We introduce ACID, an…
Dynamic novel view synthesis (NVS) is essential for creating immersive experiences. Existing approaches have advanced dynamic NVS by introducing 3D Gaussian Splatting (3DGS) with implicit deformation fields or indiscriminately assigned…
We present an elastic simulator for domains defined as evolving implicit functions, which is efficient, robust, and differentiable with respect to both shape and material. This simulator is motivated by applications in 3D reconstruction: it…
Recent progress in robotic manipulation has been fueled by large-scale datasets collected across diverse environments. Training robotic manipulation policies on these datasets is traditionally performed in a centralized manner, raising…
We present IsaacIPC, a robotic simulation framework that couples GPU accelerated incremental potential contact (IPC) with IsaacSim/Lab. IsaacIPC maps simulated deformation between simulation and visual meshes, enabling real-time realistic…
Accurately manipulating articulated objects is a challenging yet important task for real robot applications. In this paper, we present a novel framework called Sim2Real$^2$ to enable the robot to manipulate an unseen articulated object to…
In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously tracking and…
Tactile sensing in soft robots remains particularly challenging because of the coupling between contact and deformation information which the sensor is subject to during actuation and interaction with the environment. This often results in…
Soft robots, particularly magnetic soft robots, require specialized simulation tools to accurately model their deformation under external magnetic fields. However, existing platforms often lack dedicated support for magnetic materials,…
Immersed boundary methods (IBMs) facilitate the simulation of flows around stationary, moving, and deforming bodies on Cartesian grids. However, extending these simulations to the large grid sizes required for realistic flow problems…
We revisit the design choices in Transformers, and propose methods to address their weaknesses in handling long sequences. First, we propose a simple layer named gated attention unit, which allows the use of a weaker single-head attention…
Recent advances in feed-forward 3D Gaussian Splatting have led to rapid improvements in efficient scene reconstruction from sparse views. However, most existing approaches construct Gaussian primitives directly aligned with the pixels in…
While 3D Gaussian Splatting (3DGS) has revolutionized photorealistic rendering, its vast ecosystem of assets remains incompatible with high-performance LiDAR simulation, a critical tool for robotics and autonomous driving. We present…
Deformable linear objects (DLOs), such as rods, cables, and ropes, play important roles in daily life. However, manipulation of DLOs is challenging as large geometrically nonlinear deformations may occur during the manipulation process.…