相关论文: Efficient Online Learning of Contact Force Models …

In this paper, we introduce a novel convex formulation that seamlessly integrates the Material Point Method (MPM) with articulated rigid body dynamics in frictional contact scenarios. We extend the linear corotational hyperelastic model…

The empirical success of Reinforcement Learning (RL) in the setting of contact-rich manipulation leaves much to be understood from a model-based perspective, where the key difficulties are often attributed to (i) the explosion of contact…

Nonprehensile manipulation is essential for manipulating objects that are too thin, large, or otherwise ungraspable in the wild. To sidestep the difficulty of contact modeling in conventional modeling-based approaches, reinforcement…

Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance…

Object insertion is a classic contact-rich manipulation task. The task remains challenging, especially when considering general objects of unknown geometry, which significantly limits the ability to understand the contact configuration…

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…

The industrial insertion of flexible flat cables (FFCs) into receptacles presents a significant challenge owing to the need for submillimeter precision when handling the deformable cables. In manufacturing processes, FFC insertion with…

Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…

We present a learnable physics-based predictive model that provides accurate motion and force-torque prediction of the robot end effector in contact-rich manipulation. The proposed model extends the state-of-the-art GNN-based simulator…

Physics-based simulation of mesh based domains remains a challenging task. State-of-the-art techniques can produce realistic results but require expert knowledge. A major bottleneck in many approaches is the step of integrating a potential…

LLMs have shown strong in-context learning (ICL) abilities, but have not yet been extended to signal processing systems. Inspired by their design, we have proposed for the first time ICL using transformer models applicable to motor…

The linear-frictional contact model is the most commonly used contact mechanism for discrete element (DEM) simulations of granular materials. Linear springs with a frictional slider are used for modeling interactions in directions normal…

Machine learning has become increasingly popular for efficiently modelling the dynamics of complex physical systems, demonstrating a capability to learn effective models for dynamics which ignore redundant degrees of freedom. Learned…

Continuum manipulators (CMs) are widely used in minimally invasive procedures due to their compliant structure and ability to navigate deep and confined anatomical environments. However, their distributed deformation makes force sensing,…

Reinforcement learning (RL) methods have been shown to be capable of learning intelligent behavior in rich domains. However, this has largely been done in simulated domains without adequate focus on the process of building the simulator. In…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…

The simulation of multi-body systems with frictional contacts is a fundamental tool for many fields, such as robotics, computer graphics, and mechanics. Hard frictional contacts are particularly troublesome to simulate because they make the…

This article proposes a model-based deep reinforcement learning (DRL) method to design emergency control strategies for short-term voltage stability problems in power systems. Recent advances show promising results in model-free DRL-based…

The finite element method (FEM) is among the most commonly used numerical methods for solving engineering problems. Due to its computational cost, various ideas have been introduced to reduce computation times, such as domain decomposition,…

Accurate frictional contact is critical in simulating the assembly of rod-like structures in the practical world, such as knots, hairs, flagella, and more. Due to their high geometric nonlinearity and elasticity, rod-on-rod contact remains…