arXiv subjects

Qixin Liang

Publications and source records attributed to Qixin Liang.

3 recordsLinked to original sources

arXiv2026

IsaacIPC: Coupling High-Fidelity Simulation and Realistic Rendering for Contact-Rich Robotic Systems

We present IsaacIPC, a robotic simulation framework that couples GPU accelerated incremental potential contact (IPC) with IsaacSim/Lab. IsaacIPC maps simulated deformation between simulation and visual meshes, enabling real-time realistic rendering with applications to data collection and policy evaluation. For tactile sensing, we introduce the geometric mortar contact potential (GMCP), which defines a barrier potential over contact samples on tactile surfaces to better resolve contact-pressure distributions. We evaluate GMCP on contact benchmarks and demonstrate IsaacIPC on rigid-deformable robotic simulations including a quadruped robot, a dexterous hand, and a universal manipulation interface (UMI) gripper.

cs.RO↗

arXiv2026

Modeling and Simulating Origami Structures using Bilinear Solid-Shell Element

We propose a novel computational framework for modeling and simulating origami structures. In this framework, bilinear solid-shell elements are employed to model the origami panels while crease folding is considered through the angle between the director vectors of the adjacent panels. The director vector is the vector normal to the mid-surface before displacement/deformation comes in. To mitigate locking issues in the solid-shell element, we introduce the assumed natural strain method. To validate the effectiveness of our framework, we conduct origami simulations involving both straight- and curved-creases. The accuracy and efficacy of the framework are demonstrated through quantitative and qualitative analyses.

cs.GR↗

arXiv2026

Corotational Hinge-based Thin Plates/Shells

We present six thin plate/shell models, derived from three distinct types of curvature operators formulated within the corotational frame, for simulating both rest-flat and rest-curved triangular meshes. Each curvature operator derives a curvature expression corresponding to both a plate model and a shell model. The corotational edge-based hinge model uses an edge-based stencil to compute directional curvature, while the corotational FVM hinge model utilizes a triangle-centered stencil, applying the finite volume method (FVM) to superposition directional curvatures across edges, yielding a generalized curvature. The corotational smoothed hinge model also employs a triangle-centered stencil but transforms directional curvatures into a generalized curvature based on a quadratic surface fit. All models assume small strain and small curvature, leading to constant bending energy Hessians, which benefit implicit integrators. Through quantitative benchmarks and qualitative elastodynamic simulations with large time steps, we demonstrate the accuracy, efficiency, and stability of these models. Our contributions enhance the thin plate/shell library for use in both computer graphics and engineering applications.

cs.GR↗