2 papers
cs.RO2026
Differentiable Mesh State Estimation via Factor Graph Inference for Deformable Object Reconstruction
Lidia Al-Zogbi, Fangjie Li, Samuel Tobin +13
Estimating deformable object states remains a fundamental challenge in robotics and simulation. We propose a novel factor graph-based framework for probabilistic mesh state estimat…
cs.GR2026
Orientation in Extended Position-Based Dynamics: Application to Rigid Bodies and Cosserat Rods
Samuel Tobin, Caleb Rucker
Rotational degrees of freedom in Extended Position-Based Dynamics (XPBD) require computations on the nonlinear manifold of 3D rotations. We show that Lie theory provides a clean, u…