相关论文: Differentiable Physics Simulation of Dynamics-Augm…

We consider the problem of sequential robotic manipulation of deformable objects using tools. Previous works have shown that differentiable physics simulators provide gradients to the environment state and help trajectory optimization to…

Deep neural networks (DNNs) have shown remarkable performance improvements on vision-related tasks such as object detection or image segmentation. Despite their success, they generally lack the understanding of 3D objects which form the…

Tensegrity robots are composed of rigid struts and flexible cables. They constitute an emerging class of hybrid rigid-soft robotic systems and are promising systems for a wide array of applications, ranging from locomotion to assembly. They…

We propose end-to-end differentiable model that predicts robot trajectories on rough offroad terrain from camera images and/or lidar point clouds. The model integrates a learnable component that predicts robot-terrain interaction forces…

Thin, reflective objects such as forks and whisks are common in our daily lives, but they are particularly challenging for robot perception because it is hard to reconstruct them using commodity RGB-D cameras or multi-view stereo…

We present learning-based implicit shape representations designed for real-time avatar collision queries arising in the simulation of clothing. Signed distance functions (SDFs) have been used for such queries for many years due to their…

Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous…

Differentiable physics enables efficient gradient-based optimizations of neural network (NN) controllers. However, existing work typically only delivers NN controllers with limited capability and generalizability. We present a practical…

Neural networks have emerged as a powerful tool for modeling physical systems, offering the ability to learn complex representations from limited data while integrating foundational scientific knowledge. In particular, neuro-symbolic…

Visual perception relies on inference of 3D scene properties such as shape, pose, and lighting. To understand how visual sensory neurons enable robust perception, it is crucial to characterize their selectivity to such physically…

We present a scheme for producing tunable active dynamics in a self-propelled robotic device. The robot moves using the differential drive mechanism where two wheels can vary their instantaneous velocities independently. These velocities…

Humans have a remarkable capacity to understand the physical dynamics of objects in their environment, flexibly capturing complex structures and interactions at multiple levels of detail. Inspired by this ability, we propose a hierarchical…

High-precision scientific simulation faces a long-standing trade-off between computational efficiency and physical fidelity. To address this challenge, we propose NeuralOGCM, an ocean modeling framework that fuses differentiable programming…

Cloth simulation has wide applications in computer animation, garment design, and robot-assisted dressing. This work presents a differentiable cloth simulator whose additional gradient information facilitates cloth-related applications. Our…

Motion mimicking is a foundational task in physics-based character animation. However, most existing motion mimicking methods are built upon reinforcement learning (RL) and suffer from heavy reward engineering, high variance, and slow…

Building differentiable simulations of physical processes has recently received an increasing amount of attention. Specifically, some efforts develop differentiable robotic physics engines motivated by the computational benefits of merging…

In modern computer vision, the optimal representation of 3D shape continues to be task-dependent. One fundamental operation applied to such representations is differentiable rendering, as it enables inverse graphics approaches in learning…

We present a method for efficient differentiable simulation of articulated bodies. This enables integration of articulated body dynamics into deep learning frameworks, and gradient-based optimization of neural networks that operate on…

When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as knives, forks and spoons. Similarly, robots may benefit from…

A robot self-model is a task-agnostic representation of the robot's physical morphology that can be used for motion planning tasks in the absence of a classical geometric kinematic model. In particular, when the latter is hard to engineer…