2 citations · 3 across the 9 of their papers we have counts for
6 papers · 1 filter
ArticulateArena: A Metric for Articulated Kinematics
Yumeng He, Yongfei She, Huanyu Chen +6
Modern methods reconstruct or generate simulation-ready articulated objects, predicting not only their geometry but also how their parts are connected and allowed to move. Evaluati…
BladeMaster: Real-Time Robotic Cutting Simulation with Online-Generated Persistent Discontinuities
Zhanyu Yang, Yunuo Chen, Yanjia Huang +3
Cutting changes both the shape and topology of deformable objects, making accurate simulation challenging for robotic manipulation. A simulator must track the cutting tool as a cut…
Right-Side-Out: Learning Zero-Shot Sim-to-Real Garment Reversal
Chang Yu, Siyu Ma, Wenxin Du +9
Turning garments right-side out is a challenging manipulation task: it is highly dynamic, entails rapid contact changes, and is subject to severe visual occlusion. We introduce Rig…
A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
TRI LBM Team, Jose Barreiros, Andrew Beaulieu +79
Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently…
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…
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…