Simulation

[TURC19] VRGym: A Virtual Testbed for Physical and Interactive AI

We propose VRGym, a virtual reality testbed for realistic human-robot interaction. Different from existing toolkits and virtual reality environments, the VRGym emphasizes on building and training both physical and interactive agents for robotics, …

[ICRA19] High-Fidelity Grasping in Virtual Reality using a Glove-based System

This paper presents a design that jointly provides hand pose sensing, hand localization, and haptic feedback to facilitate real-time stable grasps in Virtual Reality (VR). The design is based on an easy-to-replicate glove-based system that can …

[AAAI19] Mirroring without Overimitation: Learning Functionally Equivalent Manipulation Actions

This paper presents a mirroring approach, inspired by the neuroscience discovery of the mirror neurons, to transfer demonstrated manipulation actions to robots. Designed to address the different embodiments between a human (demonstrator) and a robot, …

[SIGGRAPH18] A Moving Least Squares Material Point Method with Displacement Discontinuity and Two-Way Rigid Body Coupling

In this paper, we introduce the Moving Least Squares Material Point Method (MLS-MPM). MLS-MPM naturally leads to the formulation of Affine Particle-In-Cell (APIC) and Polynomial Particle-In-Cell in a way that is consistent with a Galerkin-style weak …

[CogSci17] Consistent Probabilistic Simulation Underlying Human Judgment in Substance Dynamics

A growing body of evidence supports the hypothesis that humans infer future states of perceived physical situations by propagating noisy representations forward in time using rational (approximate) physics. In the present study, we examine whether …

[SIGGRAPHAsia16Workshop] A Virtual Reality Platform for Dynamic Human-Scene Interaction

Both synthetic static and simulated dynamic 3D scene data is highly useful in the fields of computer vision and robot task planning. Yet their virtual nature makes it difficult for real agents to interact with such data in an intuitive way. Thus …

[CogSci16] Probabilistic Simulation Predicts Human Performance on Viscous Fluid-Pouring Problem

The physical behavior of moving fluids is highly complex, yet people are able to interact with them in their everyday lives with relative ease. To investigate how humans achieve this remarkable ability, the present study extended the classical …