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09/19/2023
Learning based 2D Irregular Shape Packing
2D irregular shape packing is a necessary step to arrange UV patches of ...
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08/31/2023
Visual-Guided Mesh Repair
Mesh repair is a long-standing challenge in computer graphics and relate...
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03/16/2023
Real-Time Decentralized Navigation of Nonholonomic Agents Using Shifted Yielding Areas
We present a lightweight, decentralized algorithm for navigating multipl...
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02/02/2023
Provably Robust Semi-Infinite Program Under Collision Constraints via Subdivision
We present a semi-infinite program (SIP) solver for trajectory optimizat...
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12/05/2022
Learning Physically Realizable Skills for Online Packing of General 3D Shapes
We study the problem of learning online packing skills for irregular 3D ...
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04/13/2022
First-Order Bilevel Topology Optimization for Fast Mechanical Design
Topology Optimization (TO), which maximizes structural robustness under ...
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11/13/2021
Robust Multi-Robot Trajectory Generation Using Alternating Direction Method of Multiplier
We propose a variant of alternating direction method of multiplier (ADMM...
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10/08/2021
Active Learning of Neural Collision Handler for Complex 3D Mesh Deformations
We present a robust learning algorithm to detect and handle collisions i...
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09/08/2021
Joint Search of Optimal Topology and Trajectory for Planar Linkages
We present an algorithm to compute planar linkage topology and geometry,...
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08/07/2021
Multi-Robot Path Planning in Complex Environments via Graph Embedding
We propose an approach to solve multi-agent path planning (MPP) problems...
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07/31/2021
Planning of Power Grasps Using Infinite Program Under Complementary Constraints
We propose an optimization-based approach to plan power grasps. Central ...
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03/25/2021
Optimized Coverage Planning for UV Surface Disinfection
UV radiation has been used as a disinfection strategy to deactivate a wi...
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11/06/2020
LCollision: Fast Generation of Collision-Free Human Poses using Learned Non-Penetration Constraints
We present LCollision, a learning-based method that synthesizes collisio...
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10/28/2020
Implicit Integration for Articulated Bodies with Contact via the Nonconvex Maximal Dissipation Principle
We present non-convex maximal dissipation principle (NMDP), a time integ...
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10/20/2020
Decision Making in Joint Push-Grasp Action Space for Large-Scale Object Sorting
We present a planner for large-scale (un)labeled object sorting tasks, w...
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10/19/2020
Robust Asymptotically Locally Optimal UAV-Trajectory Generation Based on Spline Subdivision
Generating locally optimal UAV-trajectories is challenging due to the no...
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02/27/2020
Efficient Multi-Agent Motion Planning in Continuous Workspaces Using Medial-Axis-Based Swap Graphs
We present an algorithm for homogeneous, labeled, and disk-shaped multi-...
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02/04/2020
Deep Differentiable Grasp Planner for High-DOF Grippers
We present an end-to-end algorithm for training deep neural networks to ...
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09/26/2019
Realtime Simulation of Thin-Shell Deformable Materials using CNN-Based Mesh Embedding
We address the problem of accelerating thin-shell deformable object simu...
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09/12/2019
New Formulation of Mixed-Integer Conic Programming for Globally Optimal Grasp Planning
We present a two-level branch-and-bound (BB) algorithm to compute the gl...
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09/12/2019
Globally Optimal Grasp Planning using a Two-Stage Branch-And-Bound Algorithm
We present the first algorithm to compute the globally optimal gripper p...
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07/20/2019
Generating Optimal Grasps Under A Stress-Minimizing Metric
We present stress-minimizing (SM) metric, a new metric of grasp qualitie...
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05/22/2019
Globally Optimal Joint Search of Topology and Trajectory for Planar Linkages
We present a method to find globally optimal topology and trajectory joi...
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03/01/2019
Generating Grasp Poses for a High-DOF Gripper Using Neural Networks
We present a learning-based method to represent grasp poses of a high-DO...
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09/21/2018
Fast Motion Planning for High-DOF Robot Systems Using Hierarchical System Identification
We present an efficient algorithm for motion planning and control of a r...
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06/25/2018
Learning-based Feedback Controller for Deformable Object Manipulation
In this paper, we present a general learning-based framework to automati...
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02/27/2018
Cloth Manipulation Using Random Forest-Based Controller Parametrization
We present a novel approach for robust manipulation of high-DOF deformab...
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08/28/2017
Active Animations of Reduced Deformable Models with Environment Interactions
We present an efficient spacetime optimization method to automatically g...
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08/03/2016
Detailed Garment Recovery from a Single-View Image
Most recent garment capturing techniques rely on acquiring multiple view...
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08/03/2016
Efficient Optimal Control of Smoke using Spacetime Multigrid
We present a novel algorithm to control the physically-based animation o...
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03/13/2016