Presents a consensus-based ADMM distributed version of Affine Body Dynamics that enables scalable multi-node simulation while preserving IPC robustness and non-penetration.
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A learned context-energy term in port-Hamiltonian policies creates selective risk navigation that activates evasive forces only when safer paths are available.
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Distributed Affine Body Dynamics with Adaptive Consensus
Presents a consensus-based ADMM distributed version of Affine Body Dynamics that enables scalable multi-node simulation while preserving IPC robustness and non-penetration.
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Learning Material-Aware Hamiltonian Risk Fields for Safe Navigation
A learned context-energy term in port-Hamiltonian policies creates selective risk navigation that activates evasive forces only when safer paths are available.