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Real-time simulation of elastic structures is essential in many applications, from computer-guided surgical interventions to interactive design in mechanical engineering. The Finite Element Method is often used as the numerical method of…
Traditional AI algorithms, such as Genetic Programming and Reinforcement Learning, often require extensive computational resources to simulate real-world physical scenarios effectively. While advancements in multi-core processing have been…
Simulating large scenes with many rigid objects is crucial for a variety of applications, such as robotics, engineering, film and video games. Rigid interactions are notoriously hard to model: small changes to the initial state or the…
Robotic manipulation in high-precision tasks is essential for numerous industrial and real-world applications where accuracy and speed are required. Yet current diffusion-based policy learning methods generally suffer from low computational…
Accurately simulating soft tissue deformation is crucial for surgical training, pre-operative planning, and real-time haptic feedback systems. While physics-based models such as the finite element method (FEM) provide high-fidelity results,…
Vision-Language-Action models (VLAs) are becoming increasingly capable across diverse robotic tasks. However, their real-world deployment remains slow and inefficient: demonstration videos are often sped up by 5-10x to appear smooth, with…
We present Isaac Lab, the natural successor to Isaac Gym, which extends the paradigm of GPU-native robotics simulation into the era of large-scale multi-modal learning. Isaac Lab combines high-fidelity GPU parallel physics, photorealistic…
Morphing materials allow us to create new modalities of interaction and fabrication by leveraging dynamic behaviors of materials. Yet, despite the ongoing rapid growth of computational tools within this realm, current developments are…
Extending 3D Gaussian Splatting (3DGS) to 4D physical simulation remains challenging. Based on the Material Point Method (MPM), existing methods either rely on manual parameter tuning or distill dynamics from video diffusion models,…
This paper pushes the performance of cloth simulation, making the simulation interactive even for high-resolution garment models while keeping every triangle untangled. The penetration-free guarantee is inspired by the interior point…
We accelerate deep reinforcement learning-based training in visually complex 3D environments by two orders of magnitude over prior work, realizing end-to-end training speeds of over 19,000 frames of experience per second on a single GPU and…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…
Simulating the complex interactions between soft tissues and rigid anatomy is critical for applications in surgical training, planning, and robotic-assisted interventions. Traditional Finite Element Method (FEM)-based simulations, while…
We introduce a high-fidelity neural implicit dense visual Simultaneous Localization and Mapping (SLAM) system, termed DF-SLAM. In our work, we employ dictionary factors for scene representation, encoding the geometry and appearance…
Graph processing systems are essential for analyzing large-scale data with complex relationships, yet most existing frameworks rely on statically provisioned clusters, resulting in poor elasticity and inefficient resource utilization under…
Accurate and efficient modeling of soft-tissue interactions is fundamental for advancing surgical simulation, surgical robotics, and model-based surgical automation. To achieve real-time latency, classical Finite Element Method (FEM)…
Accurate simulation of brain deformation is a key component for developing realistic, interactive neurosurgical simulators, as complex nonlinear deformations must be captured to ensure realistic tool-tissue interactions. However,…
While visuomotor policy has made advancements in recent years, contact-rich tasks still remain a challenge. Robotic manipulation tasks that require continuous contact demand explicit handling of compliance and force. However, most…
The system design and algorithm development of mobile 3D printing robots need a realistic simulation. They require a mobile robot simulation platform to interoperate with a physics-based material simulation for handling interactions between…
An important challenge in robotics is understanding the interactions between robots and deformable terrains that consist of granular material. Granular flows and their interactions with rigid bodies still pose several open questions. A…