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Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
Incremental Potential Contact (IPC) is a widely used, robust, and accurate method for simulating complex frictional contact behaviors. However, achieving high efficiency remains a major challenge, particularly as material stiffness…
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…
We present a quasi-static finite element simulator for human face animation. We model the face as an actuated soft body, which can be efficiently simulated using Projective Dynamics (PD). We adopt Incremental Potential Contact (IPC) to…
We extend the incremental potential contact (IPC) model for contacting elastodynamics to resolve systems composed of codimensional DOFs in arbitrary combination. This enables a unified, interpenetration-free, robust, and stable simulation…
Cyber-Physical Production Systems (CPPSs), such as automated car manufacturing plants, execute a configurable sequence of production steps to manufacture products from a product portfolio. In CPPS engineering, domain experts start with…
Barrier functions are crucial for maintaining an intersection and inversion free simulation trajectory but existing methods which directly use distance can restrict implementation design and performance. We present an approach to rewriting…
We introduce Midas, a robotics simulation framework based on the Incremental Potential Contact (IPC) model. Our simulator guarantees intersection-free, stable, and accurate resolution of frictional contact. We demonstrate the efficacy of…
Simulation plays a key role in the design and evaluation of distributed systems, yet it is often treated as a static tool with limited interaction capabilities. In this work, we present Yet (not) Another Intelligent Fog Simulator (YAIFS),…
The set of externally visible properties associated with process variables in the Experimental Physics and Industrial Control System (EPICS) is predefined in the EPICS base distribution and is therefore not extensible by plug-compatible…
High-order bases provide major advantages over linear ones in terms of efficiency, as they provide (for the same physical model) higher accuracy for the same running time, and reliability, as they are less affected by locking artifacts and…
Multi-static cooperative sensing emerges as a promising technology for advancing integrated sensing and communication (ISAC), enhancing sensing accuracy and range. In this paper, we develop a unified design framework for joint active and…
Recent advances in the simulation of frictionally contacting elastodynamics with the Incremental Potential Contact (IPC) model have enabled inversion and intersection-free simulation via the application of mollified barriers, filtered…
Incremental Potential Contact (IPC) guarantees intersection-free simulation but suffers from high computational costs due to the expensive Hessian assembly and linear solves required by Newton's method. While Preconditioned Nonlinear…
BIP is a component framework for constructing systems by superposing three layers of modeling: Behavior, Interaction, and Priority. Behavior is represented by labeled transition systems communicating through ports. Interactions are sets of…
With the rapid development of the smart city, high-level autonomous driving, intelligent manufacturing, and etc., the stringent industrial-level requirements of the extremely low latency and high reliability for communication and new trends…
Integrated sensing and communication (ISAC) represents a paradigm shift, where previously competing wireless transmissions are jointly designed to operate in harmony via the shared use of the hardware platform for improving the spectral and…
We present the formulation and implementation of the integral- and intermediate-screened coupled-cluster method (ISSCC). The IISCC method gives a simple and rigorous integral and intermediate screening (IIS) of the coupled-cluster method…
Electronic-photonic integrated circuits (EPICs) offer transformative potential for next-generation high-performance AI but require interdisciplinary advances across devices, circuits, architecture, and design automation. The complexity of…
We present a GPU-friendly framework for real-time implicit simulation of elastic material in the presence of frictional contacts. The integration of hyperelasticity, non-interpenetration contact, and friction in real-time simulations…