7 papers
Chrono-Gymnasium: An Open-Source, Gymnasium-Compatible Distributed Simulation Framework
Bocheng Zou, Harry Zhang, Khailanii Slaton +5
High-fidelity physics simulation is essential for closing the sim-to-real gap in robotics and complex mechanical systems. However, the computational overhead of high-fidelity engin…
SimBench: A Framework for Evaluating and Diagnosing LLM-Based Digital-Twin Generation for Multi-Physics Simulation
Jingquan Wang, Andrew Negrut, Hongyu Wang +2
We introduce SimBench, a benchmark designed to evaluate the proficiency of simulator-oriented LLMs (S-LLMs) in generating digital twins (DTs) that can be used in simulators for vir…
A Physics-Based Continuum Model for Versatile, Scalable, and Fast Terramechanics Simulation
Huzaifa Unjhawala, Luning Bakke, Harry Zhang +4
This paper discusses Chrono's Continuous Representation Model (called herein Chrono::CRM), a general-purpose, scalable, and efficient simulation solution for terramechanics problem…
ChronoLLM: Customizing Language Models for Physics-Based Simulation Code Generation
Jingquan Wang, Andrew Negrut, Harry Zhang +5
This contribution is concerned with the following issue: can pretrained large language models (LLMs) be refined and customized to the point where they become virtual assistants hel…
Enhancing Autonomous Navigation by Imaging Hidden Objects using Single-Photon LiDAR
Aaron Young, Nevindu M. Batagoda, Harry Zhang +4
Robust autonomous navigation in environments with limited visibility remains a critical challenge in robotics. We present a novel approach that leverages Non-Line-of-Sight (NLOS) s…
POLAR-Sim: Augmenting NASA's POLAR Dataset for Data-Driven Lunar Perception and Rover Simulation
Bo-Hsun Chen, Peter Negrut, Thomas Liang +3
NASA's POLAR dataset contains approximately 2,600 pairs of high dynamic range stereo photos captured across 13 varied terrain scenarios, including areas with sparse or dense rock d…