Robotics has undergone a profound revolution in the past 50 years, moving from the
laboratory and research institute to the factory and home. Kinematics and dynamics theories …

The realm of textiles spans clothing, households, healthcare, sports, and industrial
applications. The deformable nature of these objects poses unique challenges that prior …

We present a differentiable dynamics solver that is able to handle frictional contact for rigid
and deformable objects within a unified framework. Through a principled mollification of …

Physics simulation is ubiquitous in robotics. Whether in model-based approaches (eg,
trajectory optimization), or model-free algorithms (eg, reinforcement learning), physics …

Many of the actions that we take with our hands involve self-contact and occlusion: shaking
hands, making a fist, or interlacing our fingers while thinking. This use of of our hands …

The manual design of soft robots and their controllers is notoriously challenging, but it could
be augmented-or, in some cases, entirely replaced-by automated design tools. Machine …

Tactile sensing is critical for robotic grasping and manipulation of objects under visual
occlusion. However, in contrast to simulations of robot arms and cameras, current …

Decision making under uncertainty is critical to real-world, autonomous systems. Model
Predictive Control (MPC) methods have demonstrated favorable performance in practice …

Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors.
Vision-based tactile sensors provide high resolution, compact and inexpensive data to …

Efficient simulation of contact is of interest for numerous physics-based animation
applications. For instance, virtual reality training, video games, rapid digital prototyping, and …