4 papers
Enabling Robust Cloth Manipulation via Inference-Time Simulator-in-the-Loop Refinement
Xin Liu, Yulin Li, Ziming Li +7
Simulator-in-the-loop optimization offers a promising inference-time mechanism for robot manipulation. It uses a physical simulator as a backend rollout engine to evaluate candidat…
FLASH: Fast Learning via GPU-Accelerated Simulation for High-Fidelity Deformable Manipulation in Minutes
Siyuan Luo, Bingyang Zhou, Chong Zhang +9
Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck…
Soft Responsive Materials Enhance Humanoid Safety
Chunzheng Wang, Yiyuan Zhang, Annan Tang +12
Humanoid robots are envisioned as general-purpose platforms in human-centered environments, yet their deployment is limited by vulnerability to falls and the risks posed by rigid m…
Fast But Accurate: A Real-Time Hyperelastic Simulator with Robust Frictional Contact
Ziqiu Zeng, Siyuan Luo, Fan Shi +1
We present a GPU-friendly framework for real-time implicit simulation of elastic material in the presence of frictional contacts. The integration of hyperelasticity, non-interpenet…