相关论文: A Physics-informed Demonstration-guided Learning F…

The macroscopic properties of materials that we observe and exploit in engineering application result from complex interactions between physics at multiple length and time scales: electronic, atomistic, defects, domains etc. Multiscale…

Physics-informed learning has shown to have a better generalization than learning without physical priors. However, training physics-informed deep neural networks requires some aspect of physical simulations to be written in a…

The growing ambition for space exploration demands robust autonomous systems that can operate in unstructured environments under extreme extraterrestrial conditions. The adoption of robot learning in this domain is severely hindered by the…

Bagging is an essential skill that humans perform in their daily activities. However, deformable objects, such as bags, are complex for robots to manipulate. This paper presents an efficient learning-based framework that enables robots to…

Machine Learning (ML) has the potential to accelerate discovery of new materials and shed light on useful properties of existing materials. A key difficulty when applying ML in Materials Science is that experimental datasets of material…

Designing composite materials as per the application requirements is fundamentally a challenging and time consuming task. Here we report the development of a deep neural network based computational framework capable of solving the forward…

Simulating physical systems is a core component of scientific computing, encompassing a wide range of physical domains and applications. Recently, there has been a surge in data-driven methods to complement traditional numerical simulations…

Deformable object manipulation presents a unique set of challenges in robotic manipulation by exhibiting high degrees of freedom and severe self-occlusion. State representation for materials that exhibit plastic behavior, like modeling clay…

Materials discovery is fundamental to advance next-generation technologies as well as for sustainable and circular economy. Beyond computational screening, generative models are efficient at finding materials with desired properties, via…

Differentiable simulation is a promising toolkit for fast gradient-based policy optimization and system identification. However, existing approaches to differentiable simulation have largely tackled scenarios where obtaining smooth…

User simulation is important for developing and evaluating human-centered AI, yet current student simulation in educational applications has significant limitations. Existing approaches focus on single learning experiences and do not…

Robotic surface-interaction tasks, such as spray painting or welding, require both accurate geometric planning and precise motion execution. While modern motion planners generate valid geometric paths, they often lack the expert motor…

Endowed with higher levels of autonomy, robots are required to perform increasingly complex manipulation tasks. Learning from demonstration is arising as a promising paradigm for transferring skills to robots. It allows to implicitly learn…

In-hand object manipulation is challenging to simulate due to complex contact dynamics, non-repetitive finger gaits, and the need to indirectly control unactuated objects. Further adapting a successful manipulation skill to new objects with…

Artificial intelligence and machine learning have shown great promise in their ability to accelerate novel materials discovery. As researchers and domain scientists seek to unify and consolidate chemical knowledge, the case for models with…

Modeling of physical human-robot collaborations is generally a challenging problem due to the unpredictive nature of human behavior. To address this issue, we present a data-efficient reinforcement learning framework which enables a robot…

We propose a new model for the description of complex granular particles and their interaction in molecular dynamics simulations of granular material in two dimensions. The grains are composed of triangles which are connected by deformable…

Differentiable simulation establishes the mathematical foundation for solving challenging inverse problems in computer graphics and robotics, such as physical system identification and inverse dynamics control. However, rigor in frictional…

Granular materials are heterogenous grains in contact, which are ubiquitous in many scientific and engineering applications such as chemical engineering, fluid mechanics, geomechanics, pharmaceutics, and so on. Granular materials pose a…

Humans quickly solve tasks in novel systems with complex dynamics, without requiring much interaction. While deep reinforcement learning algorithms have achieved tremendous success in many complex tasks, these algorithms need a large number…