3 papers indexed
Guanxiong Chen, Qianjun Xia, Jiawei Peng, Heng Zhang, Bole Ma, Justin Qian, et al.
Real-to-sim conversion for robotic interaction with objects remains labor-intensive because it requires more than visual reconstruction: a streamlined real2sim process must recover scene geometries and object states, infer physical parameters, and assemble actors, objects, camera…
Heng Zhang, Gehan Zheng, Kaifeng Zhang, Jay Song, Shivansh Patel, Sonny Hu, et al.
Digital twins enable robots to anticipate and adapt to physical interactions, but existing models struggle with elastoplastic articulated objects (EAOs) that exhibit nonlinear elasticity, plastic yielding, and damage accumulation. We present BoxTwin, an interactive digital twin f…
Shivansh Patel, Kaifeng Zhang, Sanjay Pokkali, Svetlana Lazebnik, Yunzhu Li
Simulating deformable objects is essential for a wide range of robotic manipulation applications, yet accurately predicting their dynamics remains challenging. We propose Physics-Guided Residual Dynamics (PGRD), a hybrid simulation framework that combines the advantages of physic…