We consider the problem of multiple scattering on Smith microfacets. This problem is equivalent to computing volumetric light transport in a homogeneous slab. Although the symmetry of the slab allows for significant simplification, fully analytic solutions are scarce and not general enough for most applications. Standard Monte Carlo simulation, although general, is expensive and leads to variance that must be dealt with. We present the first unbiased, truly position-free path integral for evaluating the BSDF of a homogeneous slab.

We present a new ray tracing primitive - a curved ribbon, which is embedded inside a ruled surface. We describe two such surfaces. Ribbons inside doubly ruled bilinear patches can be intersected by solving a quadratic equation. We also consider a singly ruled surface with a directrix defined by a quadratic Bézier curve and a generator - by two linearly interpolated bitangent vectors. Intersecting such a surface requires solving a cubic equation, but it provides more fine-tuned control of the ribbon shape.

Tactile sensing is critical for robotic grasping and manipulation of objects under visual occlusion. However, in contrast to simulations of robot arms and cameras, current simulations of tactile sensors have limited accuracy, speed, and utility. In this work, we develop an efficient 3D finite element method (FEM) model of the SynTouch BioTac sensor using an open-access, GPU-based robotics simulator. Our simulations closely reproduce results from an experimentally-validated model in an industry-standard, CPU-based simulator, but at 75x the speed.

In the human hand, high-density contact information provided by afferent neurons is essential for many human grasping and manipulation capabilities. In contrast, robotic tactile sensors, including the state-of-the-art SynTouch BioTac, are typically used to provide low-density contact information, such as contact location, center of pressure, and net force. Although useful, these data do not convey or leverage the rich information content that some tactile sensors naturally measure.

Sampling-based model-predictive control (MPC) is a promising tool for feedback control of robots with complex, non-smooth dynamics, and cost functions. However, the computationally demanding nature of sampling-based MPC algorithms has been a key bottleneck in their application to high-dimensional robotic manipulation problems in the real world. Previous methods have addressed this issue by running MPC in the task space while relying on a low-level operational space controller for joint control.

When humans design cost or goal specifications for robots, they often produce specifications that are ambiguous, underspecified, or beyond planners' ability to solve. In these cases, corrections provide a valuable tool for human-in-the-loop robot control. Corrections might take the form of new goal specifications, new constraints (e.g. to avoid specific objects), or hints for planning algorithms (e.g. to visit specific waypoints). Existing correction methods (e.g. using a joystick or direct manipulation of an end effector) require full teleoperation or real-time interaction.