Kemeng Huang

PhyVisGen, a physically and visually high-fidelity framework for scalable robotic manipulation data generation, introduces an arm-gripper coupling method based on the Incremental Potential Contact (IPC), enabling high-fidelity soft contact throughout complete manipulation trajectories.

Implicit time integration on GPUs gets a 3x speed boost thanks to a novel algebraic coarsening method that avoids costly explicit remeshing.