3 papers
cs.CE2026
A Total Lagrangian Finite Element Framework for Multibody Dynamics: Part II -- GPU Implementation and Numerical Experiments
Zhenhao Zhou, Ruochun Zhang, Ganesh Arivoli +1
We present the numerical methods and GPU-accelerated implementation underlying a Total Lagrangian finite element framework for finite-deformation flexible multibody dynamics, intro…
cs.CE2026
A Total Lagrangian Finite Element Framework for Multibody Dynamics: Part I -- Formulation
Zhenhao Zhou, Ganesh Arivoli, Dan Negrut
We present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-…
cs.AI2025
ChronoDreamer: Action-Conditioned World Model as an Online Simulator for Robotic Planning
Zhenhao Zhou, Dan Negrut
We present ChronoDreamer, an action-conditioned world model for contact-rich robotic manipulation. Given a history of egocentric RGB frames, contact maps, actions, and joint states…