SPARCS uses a differentiable contact model and sparse Hessian solver to jointly optimize shapes and poses of up to five interacting objects, producing physically valid simulation-ready reconstructions.
Approximate convex decomposition for 3d meshes with collision-aware concavity and tree search.ACM Trans- actions on Graphics (TOG), 41(4):1–18, 2022
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Distributed low-resolution time-of-flight sensors along a 53 cm continuum robot, fused with a shape prior, achieve 2.5 cm position and 7.2 degree orientation localization error in simulation and real experiments across multiple environments.
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Simulation-Ready Cluttered Scene Estimation via Physics-aware Joint Shape and Pose Optimization
SPARCS uses a differentiable contact model and sparse Hessian solver to jointly optimize shapes and poses of up to five interacting objects, producing physically valid simulation-ready reconstructions.
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Continuum Robot Localization using Distributed Time-of-Flight Sensors
Distributed low-resolution time-of-flight sensors along a 53 cm continuum robot, fused with a shape prior, achieve 2.5 cm position and 7.2 degree orientation localization error in simulation and real experiments across multiple environments.