Zhongkai Zhang

RL-accelerated OSQP for real-time asymmetric corotational beam contact simulation in continuum robots

H. S. Chen, Jian Chen, Shuai Wang, Mingcong Chen et autres

The real-time simulation of highly deformable slender structures interacting with complex, irregular boundaries remains a computationally demanding challenge in computational mechanics. A prominent motivating application for this fundamental problem is the navigation of continuum surgical robots within narrow anatomical cavities, which involves …

hk, cn (code pays fourni par la source)

HCDiff: Hierarchical Latent Constraint-Projected Diffusion Framework for Deformable Linear Objects Manipulation in Cluttered Environments

Yixiong Du, Lu Liu, Zhongkai Zhang

Manipulating Deformable Linear Objects (DLOs) in cluttered environments is challenging due to their high dimensionality and complex constraints. In this paper, we propose a Hierarchical Constraint-projected Diffusion (HCDiff) framework that decomposes the problem into global constraint-aware planning and local robust control through …

hk, in (code pays fourni par la source)

Fast Nodal Hessian Computation for Peridynamic Fracture Simulation

Yuxiong Qin, Qi Zhang, Zhongkai Zhang

Abstract Simulating dynamic fracture with physical realism and computational efficiency remains a formidable challenge in computer graphics. Non‐ordinary state‐based peridynamics (NOSB‐PD) offers a compelling framework for this task, but its non‐local nature makes the computation of second‐order derivatives (namely, the nodal Hessian …

hk, in (code pays fourni par la source)

CAN: A Curvature-Aware Nesterov Optimizer for Fast Elastic Simulation With Topological Changes

Yuxiong Qin, Huamin Wang, Qingfu Zhang, Zhongkai Zhang

Fast simulation of elastic bodies is fundamental to computer graphics, yet current leading methods have a key limitation: they require fixed mesh connectivity. Existing methods leverage this assumption to achieve high performance but fail during topological changes such as cutting, fracturing, or …

hk, us, in (code pays fourni par la source)

RL-accelerated OSQP for Real-time Asymmetric Corotational Beam Contact Simulation in Continuum Robots

H. S. Chen, Jian Chen, Shuai Wang, Mingcong Chen et autres

cn, hk (code pays fourni par la source)

An Optimization Framework for Intraoperative Suture Planning via Physics-Aware Differentiable Graph Neural Network-Based Surrogates

Yixiong Du, Shuai Wang, Feilong Li, Lu Liu et autres

hk, cn (code pays fourni par la source)

A Physics-Informed Neural Network Framework for Real-Time Model Predictive Shape Manipulation of Deformable Linear Objects

Yixiong Du, Lu Liu, Zhongkai Zhang

Shape control of deformable linear objects (DLOs) is a major challenge in robotics due to their high-dimensional, nonlinear dynamics and sensitivity to boundary conditions. Existing data-driven and physics-based models either require large datasets or suffer from excessive computational cost for real-time control. …

hk, cn (code pays fourni par la source)

A Reinforcement Learning Based FEM Solver for Accelerating Contact-Influenced Simulation of Continuum Robots

H. S. Chen, Jian Chen, Zhongkai Zhang, Hongbin Liu

Continuum robots exhibit exceptional flexibility and multi-degree-of-freedom maneuverability, offering significant advantages for navigating confined luminal spaces. However, rapid simulation of their contact-influenced behavior remains challenging. This paper presents RLFEM, an innovative finite element method (FEM) featuring a reinforcement learning-enhanced quadratic programming solver, …

cn, in (code pays fourni par la source)

Efficient grasping point selection for robotic-assisted tissue manipulation based on inverse finite element method

Yixiong Du, Lu Liu, Zhongkai Zhang

Abstract Accurate 3D deformation control of deformable soft tissues is of paramount importance in robotic-assisted surgeries. Selecting optimal grasping points is a fundamental challenge, as the deformation behavior is highly dependent on the applied forces and their locations. This paper presents an …

hk, cn (code pays fourni par la source)

Fast But Accurate: A Real-Time Hyperelastic Simulator with Robust Frictional Contact

Zhaoyang Zeng, Fan Shi, Zhongkai Zhang

We present a GPU-friendly framework for real-time implicit simulation of elastic material in the presence of frictional contacts. The integration of hyperelasticity, non-interpenetration contact, and friction in real-time simulations presents formidable nonlinear and non-smooth problems, which are highly challenging to solve. By …

in, fr, sg (code pays fourni par la source)

Physics-Embedded Motion Planning With Contact Handling for Continuum Surgical Robots

Yixiong Du, Yi Xiong, Mingcong Chen, Guokai Zhang et autres

Motion planning for Continuum Surgical Robots (CSRs) faces significant challenges during minimally invasive surgery (MIS) when operating within highly constrained anatomical workspaces. Although traditional approaches aim to prevent tissue damage by finding collision-free paths, robot-tissue interactions are often unavoidable in practical surgical …

hk, cn (code pays fourni par la source)

Fast But Accurate: A Real-Time Hyperelastic Simulator with Robust Frictional Contact

Siyuan Luo, Fan Shi, Zhongkai Zhang

We present a GPU-friendly framework for real-time implicit simulation of elastic material in the presence of frictional contacts. The integration of hyperelasticity, non-interpenetration contact, and friction in real-time simulations presents formidable nonlinear and non-smooth problems, which are highly challenging to solve. By …