4 papers
FreeForm: Reduced-Order Deformable Simulation from Particle-Based Skinning Eigenmodes
Donglai Xiang, Vismay Modi, Rishit Dagli +5
We present a novel formulation for mesh-free, reduced-order simulation of deformable hyperelastic objects. Existing work in reduced-order elastodynamic simulation represents the in…
Divide and Truncate: A Penetration and Inversion Free Framework for Coupled Multi-physics Systems
Anka He Chen, Jerry Hsu, Youssef Ayman +1
We present Divide and Truncate (DAT), a unified framework for coupling multi-physics systems through penetration-free collision handling, including rigid bodies, volumetric soft bo…
VoMP: Predicting Volumetric Mechanical Property Fields
Rishit Dagli, Donglai Xiang, Vismay Modi +7
Physical simulation relies on spatially-varying mechanical properties, often laboriously hand-crafted. VoMP is a feed-forward method trained to predict Young's modulus (), Poiss…
Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
NVIDIA, :, Mayank Mittal +104
We present Isaac Lab, the natural successor to Isaac Gym, which extends the paradigm of GPU-native robotics simulation into the era of large-scale multi-modal learning. Isaac Lab c…