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11/08/2022
Assemble Them All: Physics-Based Planning for Generalizable Assembly by Disassembly
Assembly planning is the core of automating product assembly, maintenanc...
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04/01/2022
Multi-Agent Path Planning with Asymmetric Interactions In Tight Spaces
By starting with the assumption that motion is fundamentally a decision ...
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02/04/2022
Condensation Jacobian with Adaptivity
We present a new approach that allows large time steps in dynamic simula...
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02/04/2022
Differentiable Simulation of Inertial Musculotendons
We propose a simple and practical approach for incorporating the effects...
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02/04/2022
Neural Collision Detection for Deformable Objects
We propose a neural network-based approach for collision detection with ...
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07/15/2021
An End-to-End Differentiable Framework for Contact-Aware Robot Design
The current dominant paradigm for robotic manipulation involves two sepa...
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05/18/2021
Solid-Fluid Interaction with Surface-Tension-Dominant Contact
We propose a novel three-way coupling method to model the contact intera...
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06/15/2020