Physically based simulation: learning from and interacting with reality

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Over the last 10 years I have worked on physically based simulation for computer animation. This includes simulated control of humans for locomotion and grasping, physically inspired motion editing tools, models for collision, contact, deformation, and more recently 3D printed interfaces and mechanisms. While incredible progress has been made in the last decade, there are likewise many new opportunities and important challenges. The objective of this research program is the development of new models, formulations, and simulation techniques that better match the behaviour of real world examples, with the ultimate goal of using these models in computational design for fabrication, control, and interaction with the real world. Accurate and efficient compliant contact, and learning data driven models for friction and deformation can benefit computational design of 3D printed mechanisms. Furthermore, learning hand manipulation strategies from capture for the creation of dexterous controllers is an ongoing challenge in both simulation and robotics. As a long term objective, this research program aims to help bridge the reality gap that exists between computer simulation and the actual behaviour of materials, mechanisms, and robots in the living world. The general approach I take in my research is to (1) identify and capture the subtleties of the real world where possible, (2) design models that effectively approximate the relevant details, and (3) develop efficient methods for simulating complex interactions with these natural phenomena. In the next years of my research program, I also plan to exploit recent advances that have been made in machine learning. Function approximation techniques can help capture the true behaviour of materials, and deep networks appear to be promising for dexterous manipulation given how they have successfully advanced the state of the art in the domain of locomotion control. The products of my research program will offer both minor adjustments as well as fundamentally different approaches to physics based simulation. The results lead to applications in entertainment, for instance, character animation for next generation video games, movies, television, and new media. There are also important applications in training simulations, ergonomics, robotics, e-commerce, and rehabilitation.