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A novel multi-scale finite element formulation for contact mechanics between nominally smooth but microscopically rough surfaces is herein proposed. The approach integrates the interface finite element method (FEM) for modelling interface…

We present a convex formulation of compliant frictional contact and a robust, performant method to solve it in practice. By analytically eliminating contact constraints, we obtain an unconstrained convex problem. Our solver has proven…

The matching of 3D shapes has been extensively studied for shapes represented as surface meshes, as well as for shapes represented as point clouds. While point clouds are a common representation of raw real-world 3D data (e.g. from laser…

Accurately modeling contact behaviors for real-world, near-rigid materials remains a grand challenge for existing rigid-body physics simulators. This paper introduces a data-augmented contact model that incorporates analytical solutions…

In this paper we present an abstract nonsmooth optimization problem for which we recall existence and uniqueness results. We show a numerical scheme to approximate its solution. The theory is later applied to a sample static contact problem…

Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…

We propose a novel task of text-controlled human object interaction generation in 3D scenes with movable objects. Existing human-scene interaction datasets suffer from insufficient interaction categories and typically only consider…

Robust and precise robotic assembly entails insertion of constituent components. Insertion success is hindered when noise in scene understanding exceeds tolerance limits, especially when fabricated with tight tolerances. In this work, we…

This paper presents a multimodal framework that integrates touch signals (contact points and surface normals) into 3D Gaussian Splatting (3DGS). Our approach enhances scene reconstruction, particularly under challenging conditions like low…

We present new algorithms to perform fast probabilistic collision queries between convex as well as non-convex objects. Our approach is applicable to general shapes, where one or more objects are represented using Gaussian probability…

Many algorithms for the computation of correspondences between deformable shapes rely on some variant of nearest neighbor matching in a descriptor space. Such are, for example, various point-wise correspondence recovery algorithms used as a…

Approximate convex decomposition aims to decompose a 3D shape into a set of almost convex components, whose convex hulls can then be used to represent the input shape. It thus enables efficient geometry processing algorithms specifically…

Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…

Object triangulation, 3-D object tracking, feature correspondence, and camera calibration are key problems for estimation from camera networks. This paper addresses these problems within a unified Bayesian framework for joint multi-object…

People touch their face 23 times an hour, they cross their arms and legs, put their hands on their hips, etc. While many images of people contain some form of self-contact, current 3D human pose and shape (HPS) regression methods typically…

An efficient and momentum conserving algorithm for enforcing contact between solid bodies is proposed. Previous advances in the material point method (MPM) led to a fast and simple, but potentially momentum violating, strategy for enforcing…

We provide a geometric perspective on the kinetic interaction of matter and radiation, based on a pair bracket approach. We discuss the interaction of kinetic theories via dissipative brackets, with our fundamental example being the…

Frictional sliding contact in hydrodynamic environments can be found in a range of engineering applications. Accurate modeling requires an integrated numerical framework capable of resolving large relative motions, multiphase interactions,…

Existing methods for human mesh recovery mainly focus on single-view frameworks, but they often fail to produce accurate results due to the ill-posed setup. Considering the maturity of the multi-view motion capture system, in this paper, we…

Two-dimensional (planar) rigid-body impact mechanics for application in automobile collisions have been described by a number of researchers over the last several decades. Little has been discussed, however, regarding three-dimensional…