12 accepted papers
This paper presents a framework designed to tackle a range of planning problems arise in manipulation, which typically involve complex geometric-physical reasoning related to contact and dynamic constraints. We introduce the Contact Factor Graph (CFG) to graphically model these diverse factors, enab
Protein language models (pLMs) are powerful predictors of protein structure and function, learning through unsupervised training on millions of protein sequences. pLMs are thought to capture common motifs in protein sequences, but the specifics of pLM features are not well understood. Identifying th…
Narrow passage path planning is a prevalent problem from industrial to household sites, often facing difficulties in finding feasible paths or requiring excessive computational resources. Given that deep penetration into the environment can cause optimization failure, we propose a framework to ensur
Proteins are complex molecules responsible for different functions in nature. Enhancing the functionality of proteins and cellular fitness can significantly impact various industries. However, protein optimization using computational methods remains challenging, especially when starting from low-fit…
The gradient of typical differentiable simulation is uninformative for two reasons: 1) non-smoothness in contact dynamics not considered properly, and 2) excessive local minima generated from the smoothing procedure. To tackle this issue, we first propose differentiable contact dynamics with an inva…
In this paper, we present a new multibody physics simulation framework that utilizes the subsystem-based struc-ture and the Alternating Direction Method of Multiplier (ADMM). The major challenge in simulating complex high degree of freedom systems is a large number of coupled con-straints and large-…
Three-dimensional (3D) reconstruction of wiry structures from vision suffers from thin geometry, lack of texture, and severe self-occlusions. We propose an online 3D edge reconstruction framework that uses monocular image sequences to reconstruct the wiry structures whose skeletons are mainly straig
For many robotic manipulation and contact tasks, it is crucial to accurately estimate uncertain object poses, for which certain geometry and sensor information are fused in some optimal fashion. Previous results for this problem primarily adopt sampling-based or end-to-end learning methods, which ye…
We propose a novel real-time physically-accurate simulator for long flexible cable manipulation. We first discretize the cable into multiple rigid link segments, each with complementarity-based contact model and inter-segment compliant coupling; and partition the cable into a number of subsystems, e…
We propose a novel real-time physically-accurate simulation framework for the snap connection process. For this, we first notice the peculiarities of the process, namely, small/smooth deformation, stiff connector and segmented contact. We then design our simulation to fully exploit these peculiariti…