相关论文: Unisoma: A Unified Transformer-based Solver for Mu…
Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…
The impressive performance of transformer models has sparked the deployment of intelligent applications on resource-constrained edge devices. However, ensuring high-quality service for real-time edge systems is a significant challenge due…
The fine-grained surface reconstruction of different organs from 3D medical imaging can provide advanced diagnostic support and improved surgical planning. However, the representation of the organs is often limited by the resolution, with a…
Metamaterials are artificial materials that are designed to meet unseen properties in nature, such as ultra-stiffness and negative materials indices. In mechanical metamaterial design, three key modalities are typically involved, i.e., 3D…
Humans possess a remarkable ability to integrate auditory and visual information, enabling a deeper understanding of the surrounding environment. This early fusion of audio and visual cues, demonstrated through cognitive psychology and…
Recent progress of video diffusion models have enabled extensive simulation of the physical world. While simulation with hand object interaction has been less explored. We propose DexSIM, a dexterous simulation framework for simulating…
Dexterous multi-fingered hands can provide robots with the ability to flexibly perform a wide range of manipulation skills. However, many of the more complex behaviors are also notoriously difficult to control: Performing in-hand object…
This paper presents uniGasFoam, an open-source particle-based solver for multiscale rarefied gas flow simulations, which has been developed within the well-established OpenFOAM framework, and is an extension of the direct simulation Monte…
Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck for deformable object manipulation. The continuously…
With the emergence of VR and AR, 360{\deg} data attracts increasing attention from the computer vision and multimedia communities. Typically, 360{\deg} data is projected into 2D ERP (equirectangular projection) images for feature…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
Perception of deformable linear objects (DLOs), such as cables, ropes, and wires, is the cornerstone for successful downstream manipulation. Although vision-based methods have been extensively explored, they remain highly vulnerable to…
There has been rapid and dramatic progress in learning complex visuo-motor manipulation skills from demonstrations, thanks in part to expressive policy classes that employ diffusion- and transformer-based backbones. However, these design…
A three-dimensional simulation model is proposed here to study the erosive wear of structure caused by solid particles, which accounts for the accumulation of surface deformation and degradation during the erosion process. Although there…
To fully understand, analyze, and determine the behavior of dynamical systems, it is crucial to identify their intrinsic modal coordinates. In nonlinear dynamical systems, this task is challenging as the modal transformation based on the…
The ability to automatically discover interpretable mathematical models from data could forever change how we model soft matter systems. For convex discovery problems with a unique global minimum, model discovery is well-established. It…
We propose a self-supervised shared encoder model that achieves strong results on several visual, language and multimodal benchmarks while being data, memory and run-time efficient. We make three key contributions. First, in contrast to…
We introduce SurgFormer, a multiresolution gated transformer for data driven soft tissue simulation on volumetric meshes. High fidelity biomechanical solvers are often too costly for interactive use, so we train SurgFormer on solver…
Modeling deformable objects - especially continuum materials - in a way that is physically plausible, generalizable, and data-efficient remains challenging across 3D vision, graphics, and robotic manipulation. Many existing methods…
Current 3D geometric molecular representations predominantly focus on discrete atomic skeletons, inherently overlooking the continuous electron density (ED) field that fundamentally governs microscopic quantum behaviors. Consequently, these…