相关论文: EqCollide: Equivariant and Collision-Aware Deforma…

We present a framework for the simulation of rigid and deformable bodies in the presence of contact and friction. Our method is based on a non-smooth Newton iteration that solves the underlying nonlinear complementarity problems (NCPs)…

We introduce Equivariant Neural Eikonal Solvers, a novel framework that integrates Equivariant Neural Fields (ENFs) with Neural Eikonal Solvers. Our approach employs a single neural field where a unified shared backbone is conditioned on…

Accurately simulating soft tissue deformation is crucial for surgical training, pre-operative planning, and real-time haptic feedback systems. While physics-based models such as the finite element method (FEM) provide high-fidelity results,…

Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…

Quantum error correction is a critical component for scaling up quantum computing. Given a quantum code, an optimal decoder maps the measured code violations to the most likely error that occurred, but its cost scales exponentially with the…

Learning data-efficient object dynamics models for robotic manipulation remains challenging, especially for deformable objects. A popular approach is to model objects as sets of 3D particles and learn their motion using graph neural…

Embodied systems experience the world as 'a symphony of flows': a combination of many continuous streams of sensory input coupled to self-motion, interwoven with the dynamics of external objects. These streams obey smooth,…

High infraction rates remain the primary bottleneck for end-to-end (E2E) autonomous driving, as evidenced by the low driving scores on the CARLA Leaderboard. Despite collision-related infractions being the dominant failure mode in…

Graph neural networks (GNNs) have shown promise in learning unstructured mesh-based simulations of physical systems, including fluid dynamics. In tandem, geometric deep learning principles have informed the development of equivariant…

Currently, manipulation tasks for deformable objects often focus on activities like folding clothes, handling ropes, and manipulating bags. However, research on contact-rich tasks involving deformable objects remains relatively…

This paper proposes a real-time physically-based method for simulating vehicle deformation. Our system synthesizes vehicle deformation characteristics by considering a low-dimensional coupled vehicle body technique. We simulate the motion…

World models for deformable objects should recover not only geometry and appearance, but also underlying physical dynamics, interaction grounding, and material behavior. Learning such a model from real videos is challenging because…

Neural shape representation generally refers to representing 3D geometry using neural networks, e.g., computing a signed distance or occupancy value at a specific spatial position. In this paper we present a neural-network architecture…

Capsule networks promise significant benefits over convolutional networks by storing stronger internal representations, and routing information based on the agreement between intermediate representations' projections. Despite this, their…

Simulating large scenes with many rigid objects is crucial for a variety of applications, such as robotics, engineering, film and video games. Rigid interactions are notoriously hard to model: small changes to the initial state or the…

Rigid motion tracking is paramount in many medical imaging applications where movements need to be detected, corrected, or accounted for. Modern strategies rely on convolutional neural networks (CNN) and pose this problem as rigid…

Spherical equivariant graph neural networks (EGNNs) provide a principled framework for learning on three-dimensional molecular and biomolecular systems, where predictions must respect the rotational symmetries inherent in physics. These…

Neural network (connectionist) models are designed to encode image features and provide the building blocks for object and shape recognition. These models generally call for: a) initial diffuse connections from one neuron population to…

Mobile manipulation is a critical capability for robots operating in diverse, real-world environments. However, manipulating deformable objects and materials remains a major challenge for existing robot learning algorithms. While various…

Manipulating deformable objects is a ubiquitous task in household environments, demanding adequate representation and accurate dynamics prediction due to the objects' infinite degrees of freedom. This work proposes DeformNet, which utilizes…