相关论文: Smoothly Differentiable and Efficiently Vectorizab…

To substantially enhance robot intelligence, there is a pressing need to develop a large model that enables general-purpose robots to proficiently undertake a broad spectrum of manipulation tasks, akin to the versatile task-planning ability…

In the field of brittle fracture animation, generating realistic destruction animations using physics-based simulation methods is computationally expensive. While techniques based on Voronoi diagrams or pre-fractured patterns are effective…

An effective paradigm for simulating the dynamics of robots that locomote and manipulate is multi-rigid body simulation with rigid contact. This paradigm provides reasonable tradeoffs between accuracy, running time, and simplicity of…

We introduce JAX MD, a software package for performing differentiable physics simulations with a focus on molecular dynamics. JAX MD includes a number of physics simulation environments, as well as interaction potentials and neural networks…

Autonomous robots should operate in real-world dynamic environments and collaborate with humans in tight spaces. A key component for allowing robots to leave structured lab and manufacturing settings is their ability to evaluate online and…

Planning robot dexterity is challenging due to the non-smoothness introduced by contacts, intricate fine motions, and ever-changing scenarios. We present a hierarchical planning framework for dexterous robotic manipulation (HiDex). This…

Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as imitation learning, have been used to address deformable…

This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic…

Accurate representation of interfaces and flux exchange is vital for coupled multiphysics simulations across a broad range of applications. Currently, coupling approaches are limited by the underlying discretization or to specific physical…

Advances in the realm of Generative Adversarial Networks (GANs) have led to architectures capable of producing amazingly realistic images such as StyleGAN2, which, when trained on the FFHQ dataset, generates images of human faces from…

Most existing vision-language manipulation research targets rigid robotic arms, whose fixed morphology limits adaptability in cluttered or confined spaces. Soft robotic arms offer an appealing alternative due to their deformability, but…

Humanoid robots deployed in real-world scenarios often need to carry unknown payloads, which introduce significant mismatch and degrade the effectiveness of simulation-to-reality reinforcement learning methods. To address this challenge, we…

Manifold models provide low-dimensional representations that are useful for processing and analyzing data in a transformation-invariant way. In this paper, we study the problem of learning smooth pattern transformation manifolds from image…

We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact region is a planar non-convex contact patch. Such methods are useful in planning and…

We present a principled method for dynamic simulation of rigid bodies in intermittent contact with each other where the contact is assumed to be a non-convex contact patch that can be modeled as a union of convex patches. The prevalent…

For many robotic manipulation and contact tasks, it is crucial to accurately estimate uncertain object poses, for which certain geometry and sensor information are fused in some optimal fashion. Previous results for this problem primarily…

Human-motion generation is a long-standing challenging task due to the requirement of accurately modeling complex and diverse dynamic patterns. Most existing methods adopt sequence models such as RNN to directly model transitions in the…

Simulations of many rigid bodies colliding with each other sometimes yield particularly interesting results if the colliding objects differ significantly in size and are non-spherical. The most expensive part within such a simulation code…

We present a convex formulation of compliant frictional contact and a robust, performant method to solve it in practice. By analytically eliminating contact constraints, we obtain an unconstrained convex problem. Our solver has proven…

We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non-convex contact patch. The planar non-convex contact patch…