7 citations · 7 across the 11 of their papers we have counts for
13 papers
Differentiate the Solver, Not the Equation: Reverse-Sweep Adjoints for Block Implicit Simulation
Lei Shu, Ying Jiang, Kui Wu +3
Differentiable simulation is a key component in learning, control, and inverse problems, where gradients through nonlinear implicit solvers are required. Existing approaches either…
PoseShield: Neural Collision Fields for Human Self-Collision Resolution
Zhengyuan Li, Zeyun Deng, Yifan Shen +7
Self-collision remains a persistent challenge in SMPL-based human pose estimation and motion generation. Under extreme articulations or stochastic motion synthesis, generated meshe…
WorldParticle: Unified World Simulation of Lagrangian Particle Dynamics via Transformer
Caoliwen Wang, Minghao Guo, Siyuan Chen +13
A unified simulator that can model diverse physical phenomena without solver-specific redesign is a long-standing goal across simulation science. We present a learning-based partic…
Efficient Differentiable Contact Model with Long-range Influence
Xiaohan Ye, Kui Wu, Zherong Pan +1
With the maturation of differentiable physics, its role in various downstream applications: such as model predictive control, robotic design optimization, and neural PDE solvers, h…
JGS2: Near Second-order Converging Jacobi/Gauss-Seidel for GPU Elastodynamics
Lei Lan, Zixuan Lu, Chun Yuan +5
In parallel simulation, convergence and parallelism are often seen as inherently conflicting objectives. Improved parallelism typically entails lighter local computation and weaker…
Handle-based Mesh Deformation Guided By Vision Language Model
Xingpeng Sun, Shiyang Jia, Zherong Pan +2
Mesh deformation is a fundamental tool in 3D content manipulation. Despite extensive prior research, existing approaches often suffer from low output quality, require significant m…
Language-Guided Generation for Personalized Inspection Planning
Xingpeng Sun, Zherong Pan, Xifeng Gao +2
We propose a training-free, Vision-Language Model (VLM)-guided approach for efficiently generating trajectories to facilitate target inspection planning based on text descriptions.…
BC-ADMM: An Efficient Non-convex Constrained Optimizer with Robotic Applications
Zherong Pan, Kui Wu
Non-convex constrained optimizations are ubiquitous in robotic applications such as multi-agent navigation, UAV trajectory optimization, and soft robot simulation. For this problem…
SDRS: Shape-Differentiable Robot Simulator
Xiaohan Ye, Xifeng Gao, Kui Wu +2
Robot simulators are indispensable tools across many fields, and recent research has significantly improved their functionality by incorporating additional gradient information. Ho…
Volumetric Homogenization for Knitwear Simulation
Chun Yuan, Haoyang Shi, Lei Lan +6
This paper presents volumetric homogenization, a spatially varying homogenization scheme for knitwear simulation. We are motivated by the observation that macro-scale fabric dynami…
Learning Neural Traffic Rules
Xuan Zhang, Xifeng Gao, Kui Wu +1
Extensive research has been devoted to the field of multi-agent navigation. Recently, there has been remarkable progress attributed to the emergence of learning-based techniques wi…
Learning Reduced-Order Soft Robot Controller
Chen Liang, Xifeng Gao, Kui Wu +1
Deformable robots are notoriously difficult to model or control due to its high-dimensional configuration spaces. Direct trajectory optimization suffers from the curse-of-dimension…
Second-Order Convergent Collision-Constrained Optimization-Based Planner
Chen Liang, Xifeng Gao, Kui Wu +1
Finding robot poses and trajectories represents a foundational aspect of robot motion planning. Despite decades of research, efficiently and robustly addressing these challenges is…