相关论文: Sculpt, Deploy, Repeat: Fast Prototyping of Intera…

The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid features and actuating them with artificial muscles would…

Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been…

The prediction of material properties through electronic-structure simulations based on density-functional theory has become routinely common, thanks, in part, to the steady increase in the number and robustness of available simulation…

Shape fabrication from developable parts is the basis for arts such as papercraft and needlework, as well as modern architecture and CAD in general, and it has inspired much research. We observe that the assembly of complex 3D shapes…

In recent years, the research community, but also the general public, has raised serious questions about the reproducibility and replicability of scientific work. Since many studies include some kind of computational work, these issues are…

Recent diffusion-based text-to-image customization methods have achieved significant success in understanding concrete concepts to control generation processes, such as styles and shapes. However, few efforts dive into the realistic yet…

Parametric computer-aided design (CAD) is a standard paradigm used to design manufactured objects, where a 3D shape is represented as a program supported by the CAD software. Despite the pervasiveness of parametric CAD and a growing…

The design of physical compliance -- its location, degree, and structure -- affects robot performance and robustness in contact-rich tasks. While compliance is often used in the robot's joints, flange, or end-effector, this paper proposes…

We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…

This study starts from the counter-intuitive question of how we can render a conventional stiff, non-stretchable and even brittle material conformable so that it can fully wrap around a curved surface, such as a sphere, without failure.…

The growing complexity of cyber-physical systems (CPSs) calls for early prototyping tools that combine accuracy, speed, and usability. Virtual Platforms (VPs) provide fast functional simulation, but hybrid co-emulation solutions, in which…

Granular materials are of critical interest to many robotic tasks in planetary science, construction, and manufacturing. However, the dynamics of granular materials are complex and often computationally very expensive to simulate. We…

Large language models (LLMs) are remarkably good at writing code. A particularly valuable case of human-LLM collaboration is code-based UI prototyping, a method for creating interactive prototypes that allows users to view and fully engage…

Soft slender structures are ubiquitous in natural and artificial systems and can be observed at scales that range from the nanometric to the kilometric, from polymers to space tethers. We present a practical numerical approach to simulate…

Recent advances in generative modeling have driven significant progress in text-guided texture synthesis. However, current methods focus on synthesizing texture for single static 3D object, and struggle to handle entire families of shapes,…

Computer animation in conjunction with 3D printing has the potential to positively impact traditional stop-motion animation. As 3D printing every frame of a computer animation is prohibitively slow and expensive, 3D printed stop-motion can…

This paper deals with combination of two modern engineering methods in order to optimise the shape of a representative casting product. The product being analysed is a sling, which is used to attach pulling rope in timber transportation.…

Processes of urban planning, urban design and architecture are inherently tangible, iterative and collaborative. Nevertheless, the majority of tools in these fields offer virtual environments and single user experience. This paper presents…

Designing 3D objects from scratch is difficult, especially when the user intent is fuzzy without a clear target form. In the spirit of modeling-by-example, we facilitate design by providing reference and inspiration from existing model…

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…