5 papers
Right-Side-Out: Learning Zero-Shot Sim-to-Real Garment Reversal
Chang Yu, Siyu Ma, Wenxin Du +9
Turning garments right-side out is a challenging manipulation task: it is highly dynamic, entails rapid contact changes, and is subject to severe visual occlusion. We introduce Rig…
Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation
Yuyang Li, Wenxin Du, Chang Yu +6
Tactile sensing is crucial for achieving human-level robotic capabilities in manipulation tasks. As a promising solution, Vision-Based Tactile Sensors (VBTSs) offer high spatial re…
A Convex Formulation of Material Points and Rigid Bodies with GPU-Accelerated Async-Coupling for Interactive Simulation
Chang Yu, Wenxin Du, Zeshun Zong +3
We present a novel convex formulation that weakly couples the Material Point Method (MPM) with rigid body dynamics through frictional contact, optimized for efficient GPU paralleli…
GRIP: A General Robotic Incremental Potential Contact Simulation Dataset for Unified Deformable-Rigid Coupled Grasping
Siyu Ma, Wenxin Du, Chang Yu +7
Grasping is fundamental to robotic manipulation, and recent advances in large-scale grasping datasets have provided essential training data and evaluation benchmarks, accelerating…
Dress-1-to-3: Single Image to Simulation-Ready 3D Outfit with Diffusion Prior and Differentiable Physics
Xuan Li, Chang Yu, Wenxin Du +5
Recent advances in large models have significantly advanced image-to-3D reconstruction. However, the generated models are often fused into a single piece, limiting their applicabil…