相关论文: Large-Dimensional Multibody Dynamics Simulation Us…
Electro-thermally actuated origami provides a novel method for creating 3-D systems with advanced morphing and functional capabilities. However, it is currently difficult to simulate the multi-physical behavior of such systems because the…
The third medium contact has been proven to be an effective approach for simulating contact problems involving large deformations. Unlike traditional contact algorithms, the third medium contact introduces a third medium between two…
We introduce a general differentiable solver for time-dependent deformation problems with contact and friction. Our approach uses a finite element discretization with a high-order time integrator coupled with the recently proposed…
Rigid body interactions are fundamental to numerous scientific disciplines, but remain challenging to simulate due to their abrupt nonlinear nature and sensitivity to complex, often unknown environmental factors. These challenges call for…
Large motion poses a critical challenge in Video Frame Interpolation (VFI) task. Existing methods are often constrained by limited receptive fields, resulting in sub-optimal performance when handling scenarios with large motion. In this…
This paper presents a novel method to control humanoid robot dynamic loco-manipulation with multiple contact modes via multi-contact Model Predictive Control (MPC) framework. The proposed framework includes a multi-contact dynamics model…
Interactive portrait matting refers to extracting the soft portrait from a given image that best meets the user's intent through their inputs. Existing methods often underperform in complex scenarios, mainly due to three factors. (1) Most…
Frictional contact has been extensively studied as the core underlying behavior of legged locomotion and manipulation, and its nearly-discontinuous nature makes planning and control difficult even when an accurate model of the robot is…
First-principles simulations of many-fermion systems are commonly limited by the computational requirements of processing large data objects. As a remedy, we propose the use of low-rank approximations of three-body interactions, which are…
This work presents an instance-agnostic learning framework that fuses vision with dynamics to simultaneously learn shape, pose trajectories, and physical properties via the use of geometry as a shared representation. Unlike many contact…
While current general-purpose 3D human models (e.g., SMPL-X) efficiently represent accurate human shape and pose, they lacks the ability to physically interact with the environment due to the kinematic nature. As a result, kinematic-based…
We study a recent formulation for fluid-structure interaction problems based on the use of a distributed Lagrange multiplier in the spirit of the fictitious domain approach. In this paper, we focus our attention on a crucial computational…
The application of modern topology optimization techniques to single physics systems has seen great advances in the last three decades. However, the application of these tools to sophisticated multiphysics systems such as fluid-structure…
We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes linear MPC to contact-rich settings by utilizing a bi-level…
Fluid-Structure Interaction (FSI) can be investigated by means of non-linear Finite Element Models (FEM), suitable to capture large deflections of structural parts interacting with fluids, and Computational Fluid Dynamics (CFD). High…
Efficient and robust trajectories play a crucial role in contact-rich manipulation, which demands accurate mod- eling of object-robot interactions. Many existing approaches rely on point contact models due to their computational effi-…
Gradient-based methods can efficiently optimize controllers by leveraging differentiable simulation and physical priors. However, contact-rich manipulation remains challenging because hybrid contact dynamics often produce discontinuous or…
Video frame interpolation is an important low-level vision task, which can increase frame rate for more fluent visual experience. Existing methods have achieved great success by employing advanced motion models and synthesis networks.…
Current Human-Robot Interaction (HRI) systems for skill teaching are fragmented, and existing approaches in the literature do not offer a cohesive framework that is simultaneously efficient, intuitive, and universally safe. This paper…
This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…