6 papers
A Total Lagrangian Finite Element Framework for Multibody Dynamics: Part II -- GPU Implementation and Numerical Experiments
Zhenhao Zhou, Ruochun Zhang, Ganesh Arivoli +1
We present the numerical methods and GPU-accelerated implementation underlying a Total Lagrangian finite element framework for finite-deformation flexible multibody dynamics, intro…
A Total Lagrangian Finite Element Framework for Multibody Dynamics: Part I -- Formulation
Zhenhao Zhou, Ganesh Arivoli, Dan Negrut
We present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-…
ChronoDreamer: Action-Conditioned World Model as an Online Simulator for Robotic Planning
Zhenhao Zhou, Dan Negrut
We present ChronoDreamer, an action-conditioned world model for contact-rich robotic manipulation. Given a history of egocentric RGB frames, contact maps, actions, and joint states…
Human-Machine Interaction in Automated Vehicles: Reducing Voluntary Driver Intervention
Xinzhi Zhong, Yang Zhou, Varshini Kamaraj +5
This paper develops a novel car-following control method to reduce voluntary driver interventions and improve traffic stability in Automated Vehicles (AVs). Through a combination o…
A Study on the Use of Simulation in Synthesizing Path-Following Control Policies for Autonomous Ground Robots
Harry Zhang, Stefan Caldararu, Aaron Young +8
We report results obtained and insights gained while answering the following question: how effective is it to use a simulator to establish path following control policies for an au…
Quantifying the Sim2real Gap for GPS and IMU Sensors
Ishaan Mahajan, Huzaifa Unjhawala, Harry Zhang +7
Simulation can and should play a critical role in the development and testing of algorithms for autonomous agents. What might reduce its impact is the ``sim2real'' gap -- the algor…