5 papers · 1 filter
A Convex Formulation of Material Points and Rigid Bodies with GPU-Accelerated Async-Coupling for Interactive Simulation
Chang Yu, Wenxin Du, Zeshun Zong +3
We present a novel convex formulation that weakly couples the Material Point Method (MPM) with rigid body dynamics through frictional contact, optimized for efficient GPU paralleli…
GRIP: A General Robotic Incremental Potential Contact Simulation Dataset for Unified Deformable-Rigid Coupled Grasping
Siyu Ma, Wenxin Du, Chang Yu +7
Grasping is fundamental to robotic manipulation, and recent advances in large-scale grasping datasets have provided essential training data and evaluation benchmarks, accelerating…
Embedded IPC: Fast and Intersection-free Simulation in Reduced Subspace for Robot Manipulation
Wenxin Du, Chang Yu, Siyu Ma +7
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interact…
A Convex Formulation of Frictional Contact for the Material Point Method and Rigid Bodies
Zeshun Zong, Chenfanfu Jiang, Xuchen Han
In this paper, we introduce a novel convex formulation that seamlessly integrates the Material Point Method (MPM) with articulated rigid body dynamics in frictional contact scenari…
Irrotational Contact Fields
Alejandro Castro, Xuchen Han, Joseph Masterjohn
We present a framework for generating convex approximations of complex contact models, incorporating experimentally validated models like Hunt & Crossley coupled with Coulomb's law…