This paper is an introductory tutorial for numerical trajectory optimization with a focus on
direct collocation methods. These methods are relatively simple to understand and …

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 …

Interactive rigid body simulation is an important part of many modern computer tools, which
no authoring tool nor game engine can do without. Such high‐performance computer tools …

We propose an example-based approach for simulating complex elastic material behavior.
Supplied with a few poses that characterize a given object, our system starts by constructing …

Human motions are the product of internal and external forces, but these forces are very
difficult to measure in a general setting. Given a motion capture trajectory, we propose a …

Capturing human activities that involve both gross full-body motion and detailed hand
manipulation of objects is challenging for standard motion capture systems. We introduce a …

We present a learning-based method to control a coupled 2D system involving both fluid
and rigid bodies. Our approach is used to modify the fluid/rigid simulator's behavior by …

The central argument against data-driven methods in computer graphics rests on the curse
of dimensionality: it is intractable to precompute" everything" about a complex space. In this …

Steerable needles can be used in medical applications to reach targets behind sensitive or
impenetrable areas. The kinematics of a steerable needle are non-holonomic and, in two …

Keyframe animation is a common technique to generate animations of deformable
characters and other soft bodies. With spline interpolation, however, it can be difficult to …