3 papers
cs.RO2026
IsaacIPC: Coupling High-Fidelity Simulation and Realistic Rendering for Contact-Rich Robotic Systems
Qixin Liang, Zhongqing Han
We present IsaacIPC, a robotic simulation framework that couples GPU accelerated incremental potential contact (IPC) with IsaacSim/Lab. IsaacIPC maps simulated deformation between…
cs.GR2026
Modeling and Simulating Origami Structures using Bilinear Solid-Shell Element
Qixin Liang
We propose a novel computational framework for modeling and simulating origami structures. In this framework, bilinear solid-shell elements are employed to model the origami panels…
cs.GR2026
Corotational Hinge-based Thin Plates/Shells
Qixin Liang
We present six thin plate/shell models, derived from three distinct types of curvature operators formulated within the corotational frame, for simulating both rest-flat and rest-cu…