10 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…
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…
PhysMotion: Physics-Grounded Dynamics From a Single Image
Xiyang Tan, Ying Jiang, Xuan Li +4
We introduce PhysMotion, a novel framework that leverages principled physics-based simulations to guide intermediate 3D representations generated from a single image and input cond…
Atlas3D: Physically Constrained Self-Supporting Text-to-3D for Simulation and Fabrication
Yunuo Chen, Tianyi Xie, Zeshun Zong +5
Existing diffusion-based text-to-3D generation methods primarily focus on producing visually realistic shapes and appearances, often neglecting the physical constraints necessary f…
A Convex Formulation of Frictional Contact for the Material Point Method and Rigid Bodies
Zeshun Zong, Chenfanfu Jiang, Xuchen Han
In this paper, we introduce a novel convex formulation that seamlessly integrates the Material Point Method (MPM) with articulated rigid body dynamics in frictional contact scenari…