16 citations · 26 across the 21 of their papers we have counts for
22 papers
PoseShield: Neural Collision Fields for Human Self-Collision Resolution
Zhengyuan Li, Zeyun Deng, Yifan Shen +7
Self-collision remains a persistent challenge in SMPL-based human pose estimation and motion generation. Under extreme articulations or stochastic motion synthesis, generated meshe…
Language-Guided Generation for Personalized Inspection Planning
Xingpeng Sun, Zherong Pan, Xifeng Gao +2
We propose a training-free, Vision-Language Model (VLM)-guided approach for efficiently generating trajectories to facilitate target inspection planning based on text descriptions.…
Auto Hair Card Extraction for Smooth Hair with Differentiable Rendering
Zhongtian Zheng, Tao Huang, Haozhe Su +7
Hair cards remain a widely used representation for hair modeling in real-time applications, offering a practical trade-off between visual fidelity, memory usage, and performance. H…
SDRS: Shape-Differentiable Robot Simulator
Xiaohan Ye, Xifeng Gao, Kui Wu +2
Robot simulators are indispensable tools across many fields, and recent research has significantly improved their functionality by incorporating additional gradient information. Ho…
Robust and Feature-Preserving Offset Meshing
Hongyi Cao, Gang Xu, Renshu Gu +5
We introduce a novel offset meshing approach that can robustly handle a 3D surface mesh with an arbitrary geometry and topology configurations, while nicely capturing the sharp fea…
Varying Manifolds in Diffusion: From Time-varying Geometries to Visual Saliency
Junhao Chen, Manyi Li, Zherong Pan +2
Deep generative models learn the data distribution, which is concentrated on a low-dimensional manifold. The geometric analysis of distribution transformation provides a better und…
TexPainter: Generative Mesh Texturing with Multi-view Consistency
Hongkun Zhang, Zherong Pan, Congyi Zhang +2
The recent success of pre-trained diffusion models unlocks the possibility of the automatic generation of textures for arbitrary 3D meshes in the wild. However, these models are tr…
Learning Neural Traffic Rules
Xuan Zhang, Xifeng Gao, Kui Wu +1
Extensive research has been devoted to the field of multi-agent navigation. Recently, there has been remarkable progress attributed to the emergence of learning-based techniques wi…
Consistent Mesh Diffusion
Julian Knodt, Xifeng Gao
Given a 3D mesh with a UV parameterization, we introduce a novel approach to generating textures from text prompts. While prior work uses optimization from Text-to-Image Diffusion…
Learning Reduced-Order Soft Robot Controller
Chen Liang, Xifeng Gao, Kui Wu +1
Deformable robots are notoriously difficult to model or control due to its high-dimensional configuration spaces. Direct trajectory optimization suffers from the curse-of-dimension…
Second-Order Convergent Collision-Constrained Optimization-Based Planner
Chen Liang, Xifeng Gao, Kui Wu +1
Finding robot poses and trajectories represents a foundational aspect of robot motion planning. Despite decades of research, efficiently and robustly addressing these challenges is…
Learning based 2D Irregular Shape Packing
Zeshi Yang, Zherong Pan, Manyi Li +2
2D irregular shape packing is a necessary step to arrange UV patches of a 3D model within a texture atlas for memory-efficient appearance rendering in computer graphics. Being a jo…
Visual-Guided Mesh Repair
Zhongtian Zheng, Xifeng Gao, Zherong Pan +4
Mesh repair is a long-standing challenge in computer graphics and related fields. Converting defective meshes into watertight manifold meshes can greatly benefit downstream applica…
Provably Robust Semi-Infinite Program Under Collision Constraints via Subdivision
Duo Zhang, Chen Liang, Xifeng Gao +2
We present a semi-infinite program (SIP) solver for trajectory optimizations of general articulated robots. These problems are more challenging than standard Nonlinear Program (NLP…
First-Order Bilevel Topology Optimization for Fast Mechanical Design
Zherong Pan, Xifeng Gao, Kui Wu
Topology Optimization (TO), which maximizes structural robustness under material weight constraints, is becoming an essential step for the automatic design of mechanical parts. How…
Robust Multi-Robot Trajectory Optimization Using Alternating Direction Method of Multiplier
Ruiqi Ni, Zherong Pan, Xifeng Gao
We propose a variant of alternating direction method of multiplier (ADMM) to solve constrained trajectory optimization problems. Our ADMM framework breaks a joint optimization into…
Joint Search of Optimal Topology and Trajectory for Planar Linkages
Zherong Pan, Min Liu, Xifeng Gao +1
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic m…
Multi-Robot Path Planning in Complex Environments via Graph Embedding
Xifeng Gao, Zherong Pan, Ruiqi Ni
We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constra…
Planning of Power Grasps Using Infinite Program Under Complementary Constraints
Zherong Pan, Duo Zhang, Changhe Tu +1
We propose an optimization-based approach to plan power grasps. Central to our method is a reformulation of grasp planning as an infinite program under complementary constraints (I…
Robust & Asymptotically Locally Optimal UAV-Trajectory Generation Based on Spline Subdivision
Ruiqi Ni, Teseo Schneider, Daniele Panozzo +2
Generating locally optimal UAV-trajectories is challenging due to the non-convex constraints of collision avoidance and actuation limits. We present the first local, optimization-b…
Generating Optimal Grasps Under A Stress-Minimizing Metric
Zherong Pan, Xifeng Gao, Dinesh Manocha
We present stress-minimizing (SM) metric, a new metric of grasp qualities. Unlike previous metrics that ignore the material of target objects, we assume that target objects are mad…
Globally Optimal Joint Search of Topology and Trajectory for Planar Linkages
Zherong Pan, Min Liu, Xifeng Gao +2
We present a method to find globally optimal topology and trajectory jointly for planar linkages. Planar linkage structures can generate complex end-effector trajectories using onl…