41 citations · 104 across the 45 of their papers we have counts for
48 papers
PoseShield: Neural Collision Fields for Human Self-Collision Resolution
Zhengyuan Li, Zeyun Deng, Yifan Shen +7
Self-collision remains a persistent challenge in SMPL-based human pose estimation and motion generation. Under extreme articulations or stochastic motion synthesis, generated meshe…
WorldParticle: Unified World Simulation of Lagrangian Particle Dynamics via Transformer
Caoliwen Wang, Minghao Guo, Siyuan Chen +13
A unified simulator that can model diverse physical phenomena without solver-specific redesign is a long-standing goal across simulation science. We present a learning-based partic…
Real-time Neural Six-way Lightmaps
Wei Li, Hanxiao Sun, Tao Huang +4
Participating media are a pervasive and intriguing visual effect in virtual environments. Unfortunately, rendering such phenomena in real-time is notoriously difficult due to the c…
Efficient Differentiable Contact Model with Long-range Influence
Xiaohan Ye, Kui Wu, Zherong Pan +1
With the maturation of differentiable physics, its role in various downstream applications: such as model predictive control, robotic design optimization, and neural PDE solvers, h…
Handle-based Mesh Deformation Guided By Vision Language Model
Xingpeng Sun, Shiyang Jia, Zherong Pan +2
Mesh deformation is a fundamental tool in 3D content manipulation. Despite extensive prior research, existing approaches often suffer from low output quality, require significant m…
Language-Guided Generation for Personalized Inspection Planning
Xingpeng Sun, Zherong Pan, Xifeng Gao +2
We propose a training-free, Vision-Language Model (VLM)-guided approach for efficiently generating trajectories to facilitate target inspection planning based on text descriptions.…
Internal State Estimation in Groups via Active Information Gathering
Xuebo Ji, Zherong Pan, Xifeng Gao +7
Accurately estimating human internal states, such as personality traits or behavioral patterns, is critical for enhancing the effectiveness of human-robot interaction, particularly…
Auto Hair Card Extraction for Smooth Hair with Differentiable Rendering
Zhongtian Zheng, Tao Huang, Haozhe Su +7
Hair cards remain a widely used representation for hair modeling in real-time applications, offering a practical trade-off between visual fidelity, memory usage, and performance. H…
BC-ADMM: An Efficient Non-convex Constrained Optimizer with Robotic Applications
Zherong Pan, Kui Wu
Non-convex constrained optimizations are ubiquitous in robotic applications such as multi-agent navigation, UAV trajectory optimization, and soft robot simulation. For this problem…
SDRS: Shape-Differentiable Robot Simulator
Xiaohan Ye, Xifeng Gao, Kui Wu +2
Robot simulators are indispensable tools across many fields, and recent research has significantly improved their functionality by incorporating additional gradient information. Ho…
Varying Manifolds in Diffusion: From Time-varying Geometries to Visual Saliency
Junhao Chen, Manyi Li, Zherong Pan +2
Deep generative models learn the data distribution, which is concentrated on a low-dimensional manifold. The geometric analysis of distribution transformation provides a better und…
TexPainter: Generative Mesh Texturing with Multi-view Consistency
Hongkun Zhang, Zherong Pan, Congyi Zhang +2
The recent success of pre-trained diffusion models unlocks the possibility of the automatic generation of textures for arbitrary 3D meshes in the wild. However, these models are tr…
Learning Neural Traffic Rules
Xuan Zhang, Xifeng Gao, Kui Wu +1
Extensive research has been devoted to the field of multi-agent navigation. Recently, there has been remarkable progress attributed to the emergence of learning-based techniques wi…
Learning Reduced-Order Soft Robot Controller
Chen Liang, Xifeng Gao, Kui Wu +1
Deformable robots are notoriously difficult to model or control due to its high-dimensional configuration spaces. Direct trajectory optimization suffers from the curse-of-dimension…
Second-Order Convergent Collision-Constrained Optimization-Based Planner
Chen Liang, Xifeng Gao, Kui Wu +1
Finding robot poses and trajectories represents a foundational aspect of robot motion planning. Despite decades of research, efficiently and robustly addressing these challenges is…
Learning based 2D Irregular Shape Packing
Zeshi Yang, Zherong Pan, Manyi Li +2
2D irregular shape packing is a necessary step to arrange UV patches of a 3D model within a texture atlas for memory-efficient appearance rendering in computer graphics. Being a jo…
Visual-Guided Mesh Repair
Zhongtian Zheng, Xifeng Gao, Zherong Pan +4
Mesh repair is a long-standing challenge in computer graphics and related fields. Converting defective meshes into watertight manifold meshes can greatly benefit downstream applica…
Real-Time Decentralized Navigation of Nonholonomic Agents Using Shifted Yielding Areas
Liang He, Zherong Pan, Dinesh Manocha
We present a lightweight, decentralized algorithm for navigating multiple nonholonomic agents through challenging environments with narrow passages. Our key idea is to allow agents…
Provably Robust Semi-Infinite Program Under Collision Constraints via Subdivision
Duo Zhang, Chen Liang, Xifeng Gao +2
We present a semi-infinite program (SIP) solver for trajectory optimizations of general articulated robots. These problems are more challenging than standard Nonlinear Program (NLP…
Learning Physically Realizable Skills for Online Packing of General 3D Shapes
Hang Zhao, Zherong Pan, Yang Yu +1
We study the problem of learning online packing skills for irregular 3D shapes, which is arguably the most challenging setting of bin packing problems. The goal is to consecutively…
First-Order Bilevel Topology Optimization for Fast Mechanical Design
Zherong Pan, Xifeng Gao, Kui Wu
Topology Optimization (TO), which maximizes structural robustness under material weight constraints, is becoming an essential step for the automatic design of mechanical parts. How…
Robust Multi-Robot Trajectory Optimization Using Alternating Direction Method of Multiplier
Ruiqi Ni, Zherong Pan, Xifeng Gao
We propose a variant of alternating direction method of multiplier (ADMM) to solve constrained trajectory optimization problems. Our ADMM framework breaks a joint optimization into…
Active Learning of Neural Collision Handler for Complex 3D Mesh Deformations
Qingyang Tan, Zherong Pan, Breannan Smith +2
We present a robust learning algorithm to detect and handle collisions in 3D deforming meshes. Our collision detector is represented as a bilevel deep autoencoder with an attention…
Joint Search of Optimal Topology and Trajectory for Planar Linkages
Zherong Pan, Min Liu, Xifeng Gao +1
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic m…