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cs.RO2023
Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact
Gang Yang, Siyuan Luo, Lin Shao
We present Jade, a differentiable physics engine for articulated rigid bodies. Jade models contacts as the Linear Complementarity Problem (LCP). Compared to existing differentiable…
cs.CV2023★ 1 cited
Leveraging SE(3) Equivariance for Learning 3D Geometric Shape Assembly
Ruihai Wu, Chenrui Tie, Yushi Du +2
Shape assembly aims to reassemble parts (or fragments) into a complete object, which is a common task in our daily life. Different from the semantic part assembly (e.g., assembling…