7 accepted papers
World models require robust relational understanding to support prediction, reasoning, and control. While object-centric representations provide a useful abstraction, they are not sufficient to capture interaction-dependent dynamics. We therefore propose C-JEPA, a simple and flexible object-centric …
Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them to move or manipulate things. Contact interactions result from complex physical phenomena, that can be mathematically cast as Nonlinear Complementarity Problems (NCPs) in the context of rigid or compliant p…
Collision detection is an important component of many robotics applications, from robot control to simulation, including motion planning and estimation. While the seminal works on the topic date back to the 80s, it is only recently that the question of properly differentiating collision detection ha…
Reinforcement learning (RL) and trajectory opti-mization (TO) present strong complementary advantages. On one hand, RL approaches are able to learn global control policies directly from data, but generally require large sample sizes to properly converge towards feasible policies. On the other hand,…
Collision detection between two convex shapes is an essential feature of any physics engine or robot motion planner. It has been often tackled as a computational geometry problem, with the Gilbert, Johnson and Keerthi (GJK) algorithm being the most common approach today. In this work we show that co…
Simulating frictional contacts remains a challenging research topic in robotics. Recently, differentiable physics emerged and has proven to be a key element in model-based Reinforcement Learning (RL) and optimal control fields. However, most of the current formulations deploy coarse approximations o
Reasoning about 3D scenes from their 2D image projections is one of the core problems in computer vision. Solutions to this inverse and ill-posed problem typically involve a search for models that best explain observed image data. Notably, images depend both on the properties of observed scenes and…