The empirical success of reinforcement learning (RL) in contact-rich manipulation leaves
much to be understood from a model-based perspective, where the key difficulties are often …

Recent advances in neural models have shown great results for virtual try-on (VTO)
problems, where a 3D representation of a garment is deformed to fit a target body shape …

Robotic assembly is one of the oldest and most challenging applications of robotics. In other
areas of robotics, such as perception and grasping, simulation has rapidly accelerated …

Robotic assembly is a longstanding challenge, requiring contact-rich interaction and high
precision and accuracy. Many applications also require adaptivity to diverse parts, poses …

This paper addresses the task of 3D pose estimation for a hand interacting with an object
from a single image observation. When modeling hand-object interaction, previous works …

Barrier functions are crucial for maintaining an intersection-and inversion-free simulation
trajectory but existing methods, which directly use distance can restrict implementation …

We explore the dexterous manipulation transfer problem by designing simulators. The task
wishes to transfer human manipulations to dexterous robot hand simulations and is …

We propose an efficient cloth simulation method that combines the merits of two drastically
different numerical procedures, namely the subspace integration and parallelizable iterative …

Step-and-project is a popular method to simulate non-penetrating deformable bodies in
physically based animation. The strategy is to first integrate the system in time without …

Simultaneous coupling of diverse physical systems poses significant computational
challenges in terms of speed, quality, and stability. Rather than treating all components with …