17 papers
Physics-Based Simulation of Contact-Induced Facial Wrinkling
Juan Sebastian Montes Maestre, Ladislav Kavan, Edmond Boyer +3
Facial skin dynamics are inherently challenging to simulate due to a combination of geometric, material, and anatomical complexities. Human skin is a nonlinear layered material wit…
APEX: Action Priors Enable Efficient Exploration for Robust Motion Tracking on Legged Robots
Shivam Sood, Laukik Nakhwa, Sun Ge +7
Learning natural, animal-like locomotion from demonstrations has become a core paradigm in legged robotics. While motion tracking can reproduce reference gaits, many approaches sti…
Learning Unions of Convex Sets via Invertible Latent Decomposition for Path Planning
Taerim Yoon, Dongho Kang, Kisang Park +3
Collision-free path planning in cluttered, real-world environments relies on a representation of the collision-free space, and existing representations broadly fall into two catego…
Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation
Jiahe Pan, Stelian Coros, Jitendra Malik +1
A primary bottleneck in contact-rich manipulation is the difficulty of collecting real-world data. Sim-to-real reinforcement learning offers a scalable alternative, but the simulat…
Momentum-Conserving Graph Neural Networks for Deformable Objects
Jiahong Wang, Logan Numerow, Stelian Coros +3
Graph neural networks (GNNs) have emerged as a versatile and efficient option for modeling the dynamic behavior of deformable materials. While GNNs generalize readily to arbitrary…
Sampling-Based Multi-Modal Multi-Robot Multi-Goal Path Planning
Valentin N. Hartmann, Tirza Heinle, Yijiang Huang +1
In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-r…