6 citations · 14 across the 15 of their papers we have counts for
17 papers
Chrono-Gymnasium: An Open-Source, Gymnasium-Compatible Distributed Simulation Framework
Bocheng Zou, Harry Zhang, Khailanii Slaton +5
High-fidelity physics simulation is essential for closing the sim-to-real gap in robotics and complex mechanical systems. However, the computational overhead of high-fidelity engin…
ChronoAgentic: A Code-based Multi-Agent World Simulator for Physically Grounded Simulation Construction
Hongyu Wang, Jingquan Wang, Ashvin Anilkumar +3
Video-based world models generate visually plausible rollouts, but since they infer dynamics in latent states, they enforce no explicit physical constraints: contacts drift, shapes…
Co-Design of Rover Wheels and Control using Bayesian Optimization and Rover-Terrain Simulations
Huzaifa Mustafa Unjhawala, Khizar Shaikh, Luning Bakke +2
While simulation is vital for optimizing robotic systems, the cost of modeling deformable terrain has long limited its use in full-vehicle studies of off-road autonomous mobility.…
A Physics-Based Continuum Model for Versatile, Scalable, and Fast Terramechanics Simulation
Huzaifa Unjhawala, Luning Bakke, Harry Zhang +4
This paper discusses Chrono's Continuous Representation Model (called herein Chrono::CRM), a general-purpose, scalable, and efficient simulation solution for terramechanics problem…
ChronoLLM: Customizing Language Models for Physics-Based Simulation Code Generation
Jingquan Wang, Andrew Negrut, Harry Zhang +5
This contribution is concerned with the following issue: can pretrained large language models (LLMs) be refined and customized to the point where they become virtual assistants hel…
ChronoLLM: A Framework for Customizing Large Language Model for Digital Twins generalization based on PyChrono
Jingquan Wang, Harry Zhang, Khailanii Slaton +4
Recently, the integration of advanced simulation technologies with artificial intelligence (AI) is revolutionizing science and engineering research. ChronoLlama introduces a novel…
A physics-based sensor simulation environment for lunar ground operations
Nevindu M. Batagoda, Bo-Hsun Chen, Harry Zhang +2
This contribution reports on a software framework that uses physically-based rendering to simulate camera operation in lunar conditions. The focus is on generating synthetic images…
Chrono DEM-Engine: A Discrete Element Method dual-GPU simulator with customizable contact forces and element shape
Ruochun Zhang, Bonaventura Tagliafierro, Colin Vanden Heuvel +6
This paper introduces DEM-Engine, a new submodule of Project Chrono, that is designed to carry out Discrete Element Method (DEM) simulations. Based on spherical primitive shapes, D…
A GPU-accelerated simulator for the DEM analysis of granular systems composed of clump-shaped elements
Ruochun Zhang, Colin Vanden Heuvel, Alexander Schepelmann +5
We discuss the use of the Discrete Element Method (DEM) to simulate the dynamics of granular systems made up of elements with nontrivial geometries. The DEM simulator is GPU accele…
Using a Bayesian-Inference Approach to Calibrating Models for Simulation in Robotics
Huzaifa Mustafa Unjhawala, Ruochun Zhang, Wei Hu +3
In robotics, simulation has the potential to reduce design time and costs, and lead to a more robust engineered solution and a safer development process. However, the use of simula…
Camera simulation for robot simulation: how important are various camera model components?
Asher Elmquist, Radu Serban, Dan Negrut
Modeling cameras for the simulation of autonomous robotics is critical for generating synthetic images with appropriate realism to effectively evaluate a perception algorithm in si…
ART/ATK: A research platform for assessing and mitigating the sim-to-real gap in robotics and autonomous vehicle engineering
Asher Elmquist, Aaron Young, Thomas Hansen +10
We discuss a platform that has both software and hardware components, and whose purpose is to support research into characterizing and mitigating the sim-to-real gap in robotics an…
Evaluating a GAN for enhancing camera simulation for robotics
Asher Elmquist, Radu Serban, Dan Negrut
Given the versatility of generative adversarial networks (GANs), we seek to understand the benefits gained from using an existing GAN to enhance simulated images and reduce the sim…
A performance contextualization approach to validating camera models for robot simulation
Asher Elmquist, Radu Serban, Dan Negrut
The focus of this contribution is on camera simulation as it comes into play in simulating autonomous robots for their virtual prototyping. We propose a camera model validation met…
A software toolkit and hardware platform for investigating and comparing robot autonomy algorithms in simulation and reality
Asher Elmquist, Aaron Young, Ishaan Mahajan +8
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is o…
Sensitivity Analysis for Hybrid Systems and Systems with Memory
Radu Serban, Antonio Recuero
We present an adjoint sensitivity method for hybrid discrete -- continuous systems, extending previously published forward sensitivity methods. We treat ordinary differential equat…
Analysis of A Splitting Approach for the Parallel Solution of Linear Systems on GPU Cards
Ang Li, Radu Serban, Dan Negrut
We discuss an approach for solving sparse or dense banded linear systems on a Graphics Processing Unit (GPU) card. The matrix ${\bf A} \in {\mathbb{R}}^…