Publications

Modal Folding: Discovering Smooth Folding Patterns for Sheet Materials using Strain-Space Modes

Pengbin Tang , Ronan Hinchet , Roi Poranne , Bernhard Thomaszewski , Stelian Coros

ACM SIGGRAPH 2024 Conference Papers 2024

Maximal Safety Regions for 2D Robotic Arms as Low Degree Sum-Of-Squares Programming

Daniel Keren , Amit Shahar , Roi Poranne

2024

Efficient Polynomial Sum-Of-Squares Programming for Planar Robotic Arms

Daniel Keren , Amit Shahar , Roi Poranne

2024 IEEE International Conference on Robotics and Automation (ICRA) 2024

A practical, fast method for solving sum-of-squares problems for very large polynomials

Daniel Keren , Margarita Osadchy , Roi Poranne

arXiv preprint arXiv:2410.19844 2024

Interacting with multi-robot systems via mixed reality

Florian Kennel-Maushart , Roi Poranne , Stelian Coros

2023 IEEE International Conference on Robotics and Automation (ICRA) 2023

Differentiable task assignment and motion planning

Jimmy Envall , Roi Poranne , Stelian Coros

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023

A Mollification Scheme for Task and Motion Planning.

Jimmy Envall , Roi Poranne , Stelian Coros

CoRR 2023

Spatial computing and intuitive interaction: Bringing mixed reality and robotics together

Jeffrey Delmerico , Roi Poranne , Federica Bogo , Helen Oleynikova , Eric Vollenweider , Stelian Coros , Juan Nieto , Marc Pollefeys

IEEE Robotics & Automation Magazine 2022

Obstacle aware sampling for path planning

Murad Tukan , Alaa Maalouf , Dan Feldman , Roi Poranne

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022

Nonlinear compliant modes for large-deformation analysis of flexible structures

Simon Duenser , Bernhard Thomaszewski , Roi Poranne , Stelian Coros

ACM Transactions on Graphics 2022

Multi-arm payload manipulation via mixed reality

Florian Kennel-Maushart , Roi Poranne , Stelian Coros

2022 International Conference on Robotics and Automation (ICRA) 2022

Learning solution manifolds for control problems via energy minimization

Miguel Zamora , Roi Poranne , Stelian Coros

IEEE Robotics and Automation Letters 2022

Differentiable collision avoidance using collision primitives

Simon Zimmermann , Matthias Busenhart , Simon Huber , Roi Poranne , Stelian Coros

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022

Continuous deformation based panelization for design rationalization

Elias Jadon , Bernhard Thomaszewski , Aleksandra Anna Apolinarska , Roi Poranne

SIGGRAPH Asia 2022 Conference Papers 2022

Task Autocorrection for Immersive Teleoperation

Chenyang Wang , Simon Huber , Stelian Coros , Roi Poranne

IEEE International Conference on Robotics and Automation (ICRA) 2021 2021

Realistichands: A hybrid model for 3d hand reconstruction

Michael Seeber , Roi Poranne , Marc Polleyfeys , Martin R Oswald

2021 International conference on 3D vision (3DV) 2021

Path Planning for Hyper-Redundant Surgical Robots

Murali Karnam , Manuela Eugster , Nicolas Gerig , Roi Poranne , Stelian Coros , Georg Rauter

2021

Manipulability optimization for multi-arm teleoperation

Florian Kennel-Maushart , Roi Poranne , Stelian Coros

IEEE International Conference on Robotics and Automation (ICRA) 2021 2021

Go Fetch! - Dynamic Grasps using Boston Dynamics Spot with External Robotic Arm

Simon Zimmermann , Roi Poranne , Stelian Coros

IEEE International Conference on Robotics and Automation (ICRA) 2021 2021

Dynamic manipulation of deformable objects with implicit integration

Simon Zimmermann , Roi Poranne , Stelian Coros

IEEE Robotics and Automation Letters 2021

Designing actuation systems for animatronic figures via globally optimal discrete search

Simon Huber , Roi Poranne , Stelian Coros

ACM Transactions on Graphics (TOG) 2021

Robocut: Hot-wire cutting with robot-controlled flexible rods

Simon Duenser , Roi Poranne , Bernhard Thomaszewski , Stelian Coros

ACM Transactions on Graphics (TOG) 2020

Interactive and Smooth Parametrization-Based Quadrangulation

Roy Velich , Roi Poranne

ACM SIGGRAPH 2020 Posters 2020

A multi-level optimization framework for simultaneous grasping and motion planning

Simon Zimmermann , Ghazal Hakimifard , Miguel Zamora , Roi Poranne , Stelian Coros

IEEE Robotics and Automation Letters 2020

Trajectory optimization for cable-driven soft robot locomotion

James M Bern , Pol Banzet , Roi Poranne , Stelian Coros

2019

Puppetmaster: robotic animation of marionettes

Simon Zimmermann , Roi Poranne , James M Bern , Stelian Coros

ACM Transactions on Graphics (TOG) 2019

Optimal control via second order sensitivity analysis

Simon Zimmermann , Roi Poranne , Stelian Coros

arXiv preprint arXiv:1905.08534 2019

Skaterbots: Optimization-based design and motion synthesis for robotic creatures with legs and wheels

Moritz Geilinger , Roi Poranne , Ruta Desai , Bernhard Thomaszewski , Stelian Coros

ACM Transactions on Graphics (TOG) 2018

Shape representation by zippables

Christian Schüller , Roi Poranne , Olga Sorkine-Hornung

ACM Transactions on Graphics (TOG) 2018

Packable springs

Katja Wolff , Roi Poranne , Oliver Glauser , Olga Sorkine-Hornung

Computer Graphics Forum 2018

Model-based optimization of tendon layouts for soft robots

James M Bern , Luca Lavarini , Roi Poranne , Stelian Coros

2018

Interactive robotic manipulation of elastic objects

Simon Duenser , James M Bern , Roi Poranne , Stelian Coros

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018

Scalable locally injective mappings

Michael Rabinovich , Roi Poranne , Daniele Panozzo , Olga Sorkine-Hornung

ACM Transactions on Graphics (TOG) 2017

Geometric optimization via composite majorization.

Anna Shtengel , Roi Poranne , Olga Sorkine-Hornung , Shahar Z Kovalsky , Yaron Lipman

ACM Trans. Graph. 2017

Autocuts: simultaneous distortion and cut optimization for UV mapping

Roi Poranne , Marco Tarini , Sandro Huber , Daniele Panozzo , Olga Sorkine-Hornung

ACM Transactions on Graphics (TOG) 2017

Simple approximations of planar deformation operators

Roi Poranne , Yaron Lipman

2016

Good planar mappings and controlling singular values with semidefinite programming

Yaron Lipman , Roi Poranne , Shahar Ziv KOVALSKY , Ronen Ezra Basri , Noam AIGERMAN

2015

Seamless surface mappings

Noam AIGERMAN , Roi Poranne , Yaron Lipman

ACM Transactions on Graphics (TOG) 2015

On linear spaces of polyhedral meshes

Roi Poranne , Renjie Chen , Craig Gotsman

IEEE transactions on visualization and computer graphics 2015

Topics in Shape Optimization and Exploration

Roi Poranne , Craig Gotsman

2014

Provably good planar mappings

Roi Poranne , Yaron Lipman

ACM Transactions on Graphics (TOG) 2014

Lifted bijections for low distortion surface mappings

Noam AIGERMAN , Roi Poranne , Yaron Lipman

ACM Transactions on Graphics (TOG) 2014

Feature matching with bounded distortion

Yaron Lipman , Stav Yagev , Roi Poranne , David W Jacobs , Ronen Basri

ACM Transactions on Graphics (TOG) 2014

Interactive planarization and optimization of 3D meshes

Roi Poranne , Elena Ovreiu , Craig Gotsman

Computer Graphics Forum 2013

Biharmonic coordinates

Ofir Weber , Roi Poranne , Craig Gotsman

Computer Graphics Forum 2012

3D surface reconstruction using a generalized distance function

Roi Poranne , Craig Gotsman , Daniel Keren

Computer Graphics Forum 2010