4 papers
RoboSimStudio: An Interactive Toolkit for Human and Agent Rapid Real2Sim of Robot Manipulation Tasks
Kaiyuan Chen, Shuangyu Xie, Uksang Yoo +9
It has been difficult to accurately model the physics of the interaction between a robot and the objects it manipulates, including contact mechanics, coupled contact dynamics, defo…
FlashNeRD: Performance-First Contact-Rich Neural Robot Dynamics
Mohammadmehdi Ataei, Mohammad Amin Nabian, Jie Xu +9
Compared with analytical physics, learned dynamics models promise robot simulation that is faster, inherently differentiable, and easily adaptable to real data. Neural Robot Dynami…
Neural Robot Dynamics
Jie Xu, Eric Heiden, Iretiayo Akinola +3
Accurate and efficient simulation of modern robots remains challenging due to their high degrees of freedom and intricate mechanisms. Neural simulators have emerged as a promising…
HandyPriors: Physically Consistent Perception of Hand-Object Interactions with Differentiable Priors
Shutong Zhang, Yi-Ling Qiao, Guanglei Zhu +6
Various heuristic objectives for modeling hand-object interaction have been proposed in past work. However, due to the lack of a cohesive framework, these objectives often possess…