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Many geometry processing techniques require the solution of partial differential equations (PDEs) on manifolds embedded in $\mathbb{R}^2$ or $\mathbb{R}^3$, such as curves or surfaces. Such manifold PDEs often involve boundary conditions (e.g., Dirichlet or Neumann) prescribed at points or curves on the manifold's interior or along the geometric (exterior) boundary of an open manifold. However, input manifolds can take many forms (e.g., triangle meshes, parametrizations, point clouds, implicit functions, etc.). Typically, one must generate a mesh to apply finite element-type techniques or derive specialized discretization procedures for each distinct manifold representation. We propose instead to address such problems in a unified manner through a novel extension of the closest point method (CPM) to handle interior boundary conditions. CPM solves the manifold PDE by solving a volumetric PDE defined over the Cartesian embedding space containing the manifold, and requires only a closest point representation of the manifold. Hence, CPM supports objects that are open or closed, orientable or not, and of any codimension. To enable support for interior boundary conditions we derive a method that implicitly partitions the embedding space across interior boundaries. CPM's finite difference and interpolation stencils are adapted to respect this partition while preserving second-order accuracy. Additionally, we develop an efficient sparse-grid implementation and numerical solver. We demonstrate our method's convergence behaviour on selected model PDEs and explore several geometry processing problems: diffusion curves on surfaces, geodesic distance, tangent vector field design, harmonic map construction, and reaction-diffusion textures. Our proposed approach thus offers a powerful and flexible new tool for a range of geometry processing tasks on general manifold representations., Comment: 26 pages

Tensegrity robots, composed of rigid rods and flexible cables, exhibit high strength-to-weight ratios and significant deformations, which enable them to navigate unstructured terrains and survive harsh impacts. They are hard to control, however, due to high dimensionality, complex dynamics, and a coupled architecture. Physics-based simulation is a promising avenue for developing locomotion policies that can be transferred to real robots. Nevertheless, modeling tensegrity robots is a complex task due to a substantial sim2real gap. To address this issue, this paper describes a Real2Sim2Real (R2S2R) strategy for tensegrity robots. This strategy is based on a differentiable physics engine that can be trained given limited data from a real robot. These data include offline measurements of physical properties, such as mass and geometry for various robot components, and the observation of a trajectory using a random control policy. With the data from the real robot, the engine can be iteratively refined and used to discover locomotion policies that are directly transferable to the real robot. Beyond the R2S2R pipeline, key contributions of this work include computing non-zero gradients at contact points, a loss function for matching tensegrity locomotion gaits, and a trajectory segmentation technique that avoids conflicts in gradient evaluation during training. Multiple iterations of the R2S2R process are demonstrated and evaluated on a real 3-bar tensegrity robot., Comment: Accepted to IROS2023; https://sites.google.com/view/sim2real

Tensegrity robots, composed of rigid rods and flexible cables, are difficult to accurately model and control given the presence of complex dynamics and high number of DoFs. Differentiable physics engines have been recently proposed as a data-driven approach for model identification of such complex robotic systems. These engines are often executed at a high-frequency to achieve accurate simulation. Ground truth trajectories for training differentiable engines, however, are not typically available at such high frequencies due to limitations of real-world sensors. The present work focuses on this frequency mismatch, which impacts the modeling accuracy. We proposed a recurrent structure for a differentiable physics engine of tensegrity robots, which can be trained effectively even with low-frequency trajectories. To train this new recurrent engine in a robust way, this work introduces relative to prior work: (i) a new implicit integration scheme, (ii) a progressive training pipeline, and (iii) a differentiable collision checker. A model of NASA's icosahedron SUPERballBot on MuJoCo is used as the ground truth system to collect training data. Simulated experiments show that once the recurrent differentiable engine has been trained given the low-frequency trajectories from MuJoCo, it is able to match the behavior of MuJoCo's system. The criterion for success is whether a locomotion strategy learned using the differentiable engine can be transferred back to the ground-truth system and result in a similar motion. Notably, the amount of ground truth data needed to train the differentiable engine, such that the policy is transferable to the ground truth system, is 1% of the data needed to train the policy directly on the ground-truth system., Comment: accepted to ICRA2022, added appendix

This paper presents a novel method for generating a single polynomial approximation that produces correctly rounded results for all inputs of an elementary function for multiple representations. The generated polynomial approximation has the nice property that the first few lower degree terms produce correctly rounded results for specific representations of smaller bitwidths, which we call progressive performance. To generate such progressive polynomial approximations, we approximate the correctly rounded result and formulate the computation of correctly rounded polynomial approximations as a linear program similar to our prior work on the RLibm project. To enable the use of resulting polynomial approximations in mainstream libraries, we want to avoid piecewise polynomials with large lookup tables. We observe that the problem of computing polynomial approximations for elementary functions is a linear programming problem in low dimensions, i.e., with a small number of unknowns. We design a fast randomized algorithm for computing polynomial approximations with progressive performance. Our method produces correct and fast polynomials that require a small amount of storage. A few polynomial approximations from our prototype have already been incorporated into LLVM's math library., Comment: 14 pages

We present an arbitrary updated Lagrangian Material Point Method (A-ULMPM) to alleviate issues, such as the cell-crossing instability and numerical fracture, that plague state of the art Eulerian formulations of MPM, while still allowing for large deformations that arise in fluid simulations. Our proposed framework spans MPM discretizations from total Lagrangian formulations to Eulerian formulations. We design an easy-to-implement physics-based criterion that allows A-ULMPM to update the reference configuration adaptively for measuring physical states including stress, strain, interpolation kernels and their derivatives. For better efficiency and conservation of angular momentum, we further integrate the APIC[Jiang et al. 2015] and MLS-MPM[Hu et al. 2018] formulations in A-ULMPM by augmenting the accuracy of velocity rasterization using both the local velocity and its first-order derivatives. Our theoretical derivations use a nodal discretized Lagrangian, instead of the weak form discretization in MLS-MPM[Hu et al. 2018], and naturally lead to a "modified" MLS-MPM in A-ULMPM, which can recover MLS-MPM using a completely Eulerian formulation. A-ULMPM does not require significant changes to traditional Eulerian formulations of MPM, and is computationally more efficient since it only updates interpolation kernels and their derivatives when large topology changes occur. We present end-to-end 3D simulations of stretching and twisting hyperelastic solids, splashing liquids, and multi-material interactions with large deformations to demonstrate the efficacy of our novel A-ULMPM framework., Comment: First two authors share joint first authorship

Learning policies in simulation is promising for reducing human effort when training robot controllers. This is especially true for soft robots that are more adaptive and safe but also more difficult to accurately model and control. The sim2real gap is the main barrier to successfully transfer policies from simulation to a real robot. System identification can be applied to reduce this gap but traditional identification methods require a lot of manual tuning. Data-driven alternatives can tune dynamical models directly from data but are often data hungry, which also incorporates human effort in collecting data. This work proposes a data-driven, end-to-end differentiable simulator focused on the exciting but challenging domain of tensegrity robots. To the best of the authors' knowledge, this is the first differentiable physics engine for tensegrity robots that supports cable, contact, and actuation modeling. The aim is to develop a reasonably simplified, data-driven simulation, which can learn approximate dynamics with limited ground truth data. The dynamics must be accurate enough to generate policies that can be transferred back to the ground-truth system. As a first step in this direction, the current work demonstrates sim2sim transfer, where the unknown physical model of MuJoCo acts as a ground truth system. Two different tensegrity robots are used for evaluation and learning of locomotion policies, a 6-bar and a 3-bar tensegrity. The results indicate that only 0.25\% of ground truth data are needed to train a policy that works on the ground truth system when the differentiable engine is used for training against training the policy directly on the ground truth system., Comment: Accepted to IROS2021

We propose a novel differentiable physics engine for system identification of complex spring-rod assemblies. Unlike black-box data-driven methods for learning the evolution of a dynamical system \emph{and} its parameters, we modularize the design of our engine using a discrete form of the governing equations of motion, similar to a traditional physics engine. We further reduce the dimension from 3D to 1D for each module, which allows efficient learning of system parameters using linear regression. The regression parameters correspond to physical quantities, such as spring stiffness or the mass of the rod, making the pipeline explainable. The approach significantly reduces the amount of training data required, and also avoids iterative identification of data sampling and model training. We compare the performance of the proposed engine with previous solutions, and demonstrate its efficacy on tensegrity systems, such as NASA's icosahedron., Comment: Workshop on Differentiable Vision, Graphics, and Physics in Machine Learning at NeurIPS 2020. arXiv admin note: substantial text overlap with arXiv:2004.13859

We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our proposed model, we show how to analytically compute the gradient of an appropriate loss function, that measures the deviation between predicted motion trajectories and real-world trajectories, which are estimated using Apriltags and an overhead camera. These analytical gradients allow us to automatically infer the unknown friction coefficients, by minimizing the loss function using gradient descent. Motion trajectories that are predicted by the optimized model are in excellent agreement with their real-world counterparts. Experiments show that our proposed approach is computationally superior to existing black-box system identification methods and other data-driven techniques, and also requires very few real-world samples for accurate trajectory prediction. The proposed approach combines the data efficiency of analytical models based on first principles, with the flexibility of data-driven methods, which makes it appropriate for low-cost robots. Using the learned model and our gradient-based optimization approach, we show how to automatically compute motor control signals for driving the robot along pre-specified curves.

Given the importance of floating-point~(FP) performance in numerous domains, several new variants of FP and its alternatives have been proposed (e.g., Bfloat16, TensorFloat32, and Posits). These representations do not have correctly rounded math libraries. Further, the use of existing FP libraries for these new representations can produce incorrect results. This paper proposes a novel approach for generating polynomial approximations that can be used to implement correctly rounded math libraries. Existing methods generate polynomials that approximate the real value of an elementary function $f(x)$ and produce wrong results due to approximation errors and rounding errors in the implementation. In contrast, our approach generates polynomials that approximate the correctly rounded value of $f(x)$ (i.e., the value of $f(x)$ rounded to the target representation). It provides more margin to identify efficient polynomials that produce correctly rounded results for all inputs. We frame the problem of generating efficient polynomials that produce correctly rounded results as a linear programming problem. Our approach guarantees that we produce the correct result even with range reduction techniques. Using our approach, we have developed correctly rounded, yet faster, implementations of elementary functions for multiple target representations., Comment: 44 pages

We propose a novel differentiable physics engine for system identification of complex spring-rod assemblies. Unlike black-box data-driven methods for learning the evolution of a dynamical system and its parameters, we modularize the design of our engine using a discrete form of the governing equations of motion, similar to a traditional physics engine. We further reduce the dimension from 3D to 1D for each module, which allows efficient learning of system parameters using linear regression. As a side benefit, the regression parameters correspond to physical quantities, such as spring stiffness or the mass of the rod, making the pipeline explainable. The approach significantly reduces the amount of training data required, and also avoids iterative identification of data sampling and model training. We compare the performance of the proposed engine with previous solutions, and demonstrate its efficacy on tensegrity systems, such as NASA's icosahedron., Comment: accepted at 2020 Learning for Dynamics and Control (L4DC2020)

We consider the problem of computing a triangulation of the real projective plane P2, given a finite point set S={p1, p2,..., pn} as input. We prove that a triangulation of P2 always exists if at least six points in S are in general position, i.e., no three of them are collinear. We also design an algorithm for triangulating P2 if this necessary condition holds. As far as we know, this is the first computational result on the real projective plane.

In this paper we consider faultfree tromino tilings of rectangles and characterize rectangles that admit such tilings. We introduce the notion of {\it crossing numbers} for tilings and derive bounds on the crossing numbers of faultfree tilings. We develop an iterative scheme for generating faultfree tromino tilings for rectangles and derive the closed form expression for the exact number of faultfree tromino tilings for $4\times3t$ rectangles and the exact generating function for $5\times 3t$ rectangles, $t\geq 1$. Our iterative scheme generalizes to arbitrary rectangles; for $6\times 6t$ and $7\times 6t$ rectangles, $t\geq 1$, we derive generating functions for estimating lower bounds on the number of faultfree tilings. We also derive an upper bound on the number of tromino tilings of an $m\times n$ rectangle, where $3|mn$ and $m,n>0$., Comment: 34 pages, 17 figures

We consider tromino tilings of $m\times n$ domino-deficient rectangles, where $3|(mn-2)$ and $m,n\geq0$, and characterize all cases of domino removal that admit such tilings, thereby settling the open problem posed by J. M. Ash and S. Golomb in \cite {marshall}. Based on this characterization, we design a procedure for constructing such a tiling if one exists. We also consider the problem of counting such tilings and derive the exact formula for the number of tilings for $2\times(3t+1)$ rectangles, the exact generating function for $4\times(3t+2)$ rectangles, where $t\geq0$, and an upper bound on the number of tromino tilings for $m\times n$ domino-deficient rectangles. We also consider general 2-deficiency in $n\times4$ rectangles, where $n\geq8$, and characterize all pairs of squares which do not permit a tromino tiling., Comment: 19 pages, 13 figures