69 citations · 180 across the 10 of their papers we have counts for
10 papers
Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning
Yunsheng Tian, Joshua Jacob, Yijiang Huang +10
Multi-part assembly poses significant challenges for robots to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present Fabrica, a…
Simplicits: Mesh-Free, Geometry-Agnostic, Elastic Simulation
Vismay Modi, Nicholas Sharp, Or Perel +2
The proliferation of 3D representations, from explicit meshes to implicit neural fields and more, motivates the need for simulators agnostic to representation. We present a data-,…
ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibility
Yunsheng Tian, Karl D. D. Willis, Bassel Al Omari +10
The automated assembly of complex products requires a system that can automatically plan a physically feasible sequence of actions for assembling many parts together. In this paper…
Assemble Them All: Physics-Based Planning for Generalizable Assembly by Disassembly
Yunsheng Tian, Jie Xu, Yichen Li +5
Assembly planning is the core of automating product assembly, maintenance, and recycling for modern industrial manufacturing. Despite its importance and long history of research, p…
Multi-Agent Path Planning with Asymmetric Interactions In Tight Spaces
Vismay Modi, Yixin Chen, Abhishek Madan +2
By starting with the assumption that motion is fundamentally a decision making problem, we use the world-line concept from Special Relativity as the inspiration for a novel multi-a…
Condensation Jacobian with Adaptivity
Nicholas J. Weidner, Theodore Kim, Shinjiro Sueda
We present a new approach that allows large time steps in dynamic simulations. Our approach, ConJac, is based on condensation, a technique for eliminating many degrees of freedom (…
Neural Collision Detection for Deformable Objects
Ryan S. Zesch, Bethany R. Witemeyer, Ziyan Xiong +2
We propose a neural network-based approach for collision detection with deformable objects. Unlike previous approaches based on bounding volume hierarchies, our neural approach doe…
Differentiable Simulation of Inertial Musculotendons
Ying Wang, Jasper Verheul, Sang-Hoon Yeo +2
We propose a simple and practical approach for incorporating the effects of muscle inertia, which has been ignored by previous musculoskeletal simulators in both graphics and biome…
An End-to-End Differentiable Framework for Contact-Aware Robot Design
Jie Xu, Tao Chen, Lara Zlokapa +4
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are…
Solid-Fluid Interaction with Surface-Tension-Dominant Contact
Liangwang Ruan, Jinyuan Liu, Bo Zhu +3
We propose a novel three-way coupling method to model the contact interaction between solid and fluid driven by strong surface tension. At the heart of our physical model is a thin…