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Human motion generation involves creating natural sequences of human body poses, widely used in gaming, virtual reality, and human-computer interaction. It aims to produce lifelike virtual characters with realistic movements, enhancing…

We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…

A realistic simulation environment is an essential tool in every roboticist's toolkit, with uses ranging from planning and control to training policies with reinforcement learning. Despite the centrality of simulation in modern robotics,…

Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate…

Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…

Our goal is to develop an efficient contact detection algorithm for large-scale GPU-based simulation of non-convex objects. Current GPU-based simulators such as IsaacGym and Brax must trade-off speed with fidelity, generality, or both when…

Optimal control approaches in combination with trajectory optimization have recently proven to be a promising control strategy for legged robots. Computationally efficient and robust algorithms were derived using simplified models of the…

Differentiable contact kinematics are essential for gradient-based methods in robotics, yet the mapping from robot state to contact distance, location, and normal becomes non-smooth in degenerate configurations of shapes with zero or…

Collision detection is a critical functionality for robotics. The degree to which objects collide cannot be represented as a continuously differentiable function for any shapes other than spheres. This paper proposes a framework for…

Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified…

Efficient and robust trajectories play a crucial role in contact-rich manipulation, which demands accurate mod- eling of object-robot interactions. Many existing approaches rely on point contact models due to their computational effi-…

We present Dojo, a differentiable physics engine for robotics that prioritizes stable simulation, accurate contact physics, and differentiability with respect to states, actions, and system parameters. Dojo models hard contact and friction…

Incorporating temporal information effectively is important for accurate 3D human motion estimation and generation which have wide applications from human-computer interaction to AR/VR. In this paper, we present MoManifold, a novel human…

This paper proposes a new set of conditions for exactly representing collision avoidance constraints within optimization-based motion planning algorithms. The conditions are continuously differentiable and therefore suitable for use with…

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's main scope is the presentation of a computational method for the simulation of contact problems within the finite element method involving complex and rough surfaces. The approach relies on the MPJR (eMbedded Profile for…

Despite transformative advances in generative motion synthesis, real-time interactive motion control remains dominated by traditional techniques. In this work, we identify two key challenges in bridging research and production: 1) Real-time…

Collaborative robots are expected to be able to work alongside humans and in some cases directly replace existing human workers, thus effectively responding to rapid assembly line changes. Current methods for programming contact-rich tasks,…

Differentiable physics is a powerful tool in computer vision and robotics for scene understanding and reasoning about interactions. Existing approaches have frequently been limited to objects with simple shape or shapes that are known in…

We propose a novel multibody dynamics simulation framework that can efficiently deal with large-dimensionality and complementarity multi-contact conditions. Typical contact simulation approaches perform contact impulse-level fixed-point…