4 papers
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…
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…
Want to train KANS at scale? Now UKAN!
Alireza Moradzadeh, Srimukh Prasad Veccham, Lukasz Wawrzyniak +2
Kolmogorov-Arnold Networks (KANs) have recently emerged as a powerful alternative to traditional multilayer perceptrons. However, their reliance on predefined, bounded grids restri…
SimAvatar: Simulation-Ready Avatars with Layered Hair and Clothing
Xueting Li, Ye Yuan, Shalini De Mello +5
We introduce SimAvatar, a framework designed to generate simulation-ready clothed 3D human avatars from a text prompt. Current text-driven human avatar generation methods either mo…