The SOFA Week is designed to gather the entire SOFA community, to present technological and scientific advances, while fostering the networking within the community. Previous occurrences made it as the most popular even within the community. Check out the 2022 edition. This year, we are back onsite with live demos!
Save the date !
On 13-17th November onsite in Paris with online access
13th Nov 2023: Training session
To start the SOFA week, a training session will take place to provide new users (and any interested participant) an efficient introduction to SOFA. The training focuses on the SOFA main principles, the community, theoretical backgrounds on physics simulation, hands-on user and developer tutorials.
14th Nov 2023: International SOFA Symposium (free)
The symposium focuses on research and scientific achievements based on SOFA. This symposium allows international researchers from the SOFA community to present their scientific work, their plugins and propose live demonstrations. It is also the annual meeting where companies using SOFA can demonstrate their latest products. Finally, it is the opportunity to meet the community and create strong collaborations.
15-17th Nov 2023: Technical committee (free)
This committee focuses on technical discussions on current and future developments in SOFA. With developers of the community and SOFA Technical Members, the technical roadmap for the next release is jointly designed. It is also a unique opportunity to meet the developer community and code all together.
Day: 13th November 2023
Location: Campus Cyber Paris – Room Gate 5 (Find your way)
Level: Beginner – Medium (max 8 participants)
Registration costs
- early bird: 500€ excl.tax. (before the 13th October 2023)
- regular fare: 650€ excl. tax.
This training session aims at providing a wide introduction to SOFA and its community while ensuring the mathematical, physical and computer science backgrounds in order to start in the best conditions with SOFA.
Agenda
| Time (CET) | Training steps |
|---|---|
| 9:00 am – 10:00 am | Overview of SOFA and its community |
| 10:00 am -10:30 am | Coffee – for a good start! |
| 10:30 am – 11 am | Examples of applications with SOFA |
| 11:00 am – noon | User Tutorial (part 1) |
| noon – 1:30 pm | Lunch |
| 1:30 pm – 3 pm | User Tutorial (part 2) – involving SofaPython3 |
| 3 pm – 4 pm | Understand physics with SOFA: from the math to the code |
| 4 pm – 4:15 pm | Coffee break |
| 4:15 pm – 5:00 pm | Developer Tutorial: start your own plugin |
Day: 14th November 2023
Location: Campus Cyber Paris – Auditorium (Find your way)
Location: Campus Cyber Paris – Auditorium (Find your way)
Researchers and companies from the SOFA community join the Symposium in order to share ideas, experiences and to present their on-going research or products based on SOFA. Several sessions of presentations will be organized regarding various simulation topics and application fields. Booths will also be made available for technology demonstrations.
This international event is an exciting opportunity, fostering discussions and new collaborations!
Program
2019 edition
2018 edition
Day: 15-17th, November 2023
Location: Inria Paris – Room Lions 1 Building C (Find your way)
Level: All
The week will close with the 15th SOFA Technical Committee. This technical committee governs and takes all technical decisions for the roadmap towards upcoming releases. Join us, it is open and free to all, while allowing to discover how the technical project is managed. All you need is to validate your attendance in your registration.
Program
This year again, the SOFA consortium has the pleasure to organize the Open-Source SOFA Awards!
All contributions are eligible for application: it can be an open-source plugin, a pull-request on GitHub, a video, a tutorial or documentation pages! Two award categories are open for competition:
| Organizers’ Prize – 600€ | Public Prize – 400€ |
|---|
The call for the SOFA awards is open until the 30th of October 2023. Any contribution – as long it is open – will be rewarded at the SOFA Week 2023. Winners will be announced during the Symposium on 14th November.
Candidates
| SofaViscoElastic plugin | Ferrentino, Pasquale | Presentation of a new plugin introducing linear viscoelastic models in SOFA |
| LapGym | Scheikl, Paul Maria | We present LapGym, a framework for building Reinforcement Learning (RL) environments for RALS that models the challenges posed by surgical tasks, and sofa_env, a diverse suite of 12 environments. Motivated by surgical training, these environments are organized into 4 tracks: Spatial Reasoning, Deformable Object Manipulation & Grasping, Dissection, and Thread Manipulation. Each environment is highly parametrizable for increasing difficulty, resulting in a high performance ceiling for new algorithms. We aim to provide a challenging, standard environment suite for further development of RL for RALS, ultimately helping to realize the full potential of cognitive surgical robotics. |
| Integration of the Tracy profiler | Bilger, Alexandre | Tracy is a robust profiling tool designed primarily for gaming and similar applications, making it suitable for SOFA. This open-source library offers a wide range of features surpassing what was available in SOFA for performance measurement. Tracy is now seamlessly integrated into SOFA as an option. Its capabilities have already been harnessed to analyze and optimize the performance of multithreaded code. |
| Toolbox for Design Optimization | Navez, Tanguy | This software toolkit contains components for exploring parametric design of any SOFA scene. We provide a unified framework for implementing a single parametric Sofa scene and use it both for multi-objective design optimization and model-based control. This toolkit is provided with the example of the optimization of a soft finger parametric design. This example illustrates how to couple heuristic search and automatic mesh generation for efficiently exploring the soft finger geometry. We also introduce scripts for automatically generating the molds necessary for manufacturing a given design. |
| SOFA-DR-RL | Protopapa, Andrea | This work demonstrates how Domain Randomization (DR) improves RL policies for soft robots by enhancing robustness and reducing training time. We introduce RF-DROPO for sim-to-real transfer and provide a user-friendly extension of the SofaGym framework for DR-compatible tasks and implementation. This toolkit uses Stable Baselines3 (SB3) for Reinforcement Learning training, making it easier to create SOFA scenes and control policies for Sim2Real transfer with example scenes for guidance. |
| Condensed FEM Model Learning and Applications | Navez, Tanguy and Ménager, Etienne | The Finite Element Method (FEM) is a potent tool for predicting soft robot behavior, but its computation time limitations hinder its use in robotics. To address this issue, we propose a learning-based approach for quickly handling constraints and contacts by condensing the FEM model into a versatile framework for soft robot modeling, control, and design. |
Awards committee
- Paul Baksic – Inria
- Remi Bessard – Digyne
- Frederick Roy – LN Robotics
- Mario Sanz Lopez – CNRS
Previous winners
| Organizers’ Prize | Public Prize |
|---|---|
|
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Live demos
| Compliance Robotics | Deformable hollow robot controlled by SOFA |
| InfinyTech3D | SOFA-Unity integration |
| InSimo | Suture tasks training |
| CRIStAL CNRS | MRI-compatible Bio-inspired Phantom |
| Follou Haptics | Mini-Mou: haptic device for small surgical applications |
Industry
| Allard, Jeremie | CTO – InSimo, France | Medical simulation Haptics |
| Aricò, Mario | CEO – Twinical, France | Surgical AR solutions |
| Bessard, Rémi | Engineer – Digyne, France | Biomechanical simulation |
| Carrez, Nicolas | CTO – Twinical, France | Software AR/VR biotech |
| Denis, Dieumet | Project Manager – SHERPA Engineering, France | Robotics |
| Dumenil, Charles | Engineer – InSimo, France | Simulation |
| Guevara, Jaime | Independent – France | Biomechanics simulation |
| Guillon, Pierre | Engineer – Sonova AG, Switzerland | Biomechanical simulation |
| Huang, Luyu | Researcher – Advanced Optronics, China | Surgical simulation |
| Hubert, Pascal | Engineer – AFNeT Services, France | Computer sciences |
| Hussain, Raabid | Researcher – Oticon Medical, Sweden | Biomechanical simulation |
| Jeong Se-yun | Researcher – LNRobotics, South Korea | Mechanics |
| Jourdes, Francois | Head of Research – InSimo, France | Mechanics, numerical methods |
| Jun, Hee | Engineer – LNRobotics, South Korea | Surgical robotics |
| Kim, Heejung | Engineer – LNRobotics, South Korea | Robot-assisted surgery |
| Leuthold, Markus | Engineer – Sonova AG, Switzerland | Biomechanical models |
| Margeta, Jan | Managing director – KardioMe, Slovakia | Biomechanics, cardio-otology |
| Olsson, Fredrik | CEO – Follou AB, Sweden | Medical VR-simulators |
| Park, Sangeun | Researcher – LNRobotics, South Korea | Surgical simulation, AR/VR |
| Pernod, Erik | CEO – InfinyTech3D, France | Biomechanics, haptic, VR/AR |
| Peter, Rebekka | PhD Student – Carl Zeiss AG, Germany | Biomechanical simulation |
| Peyrat, Jean-Marc | CTO & founder – inHEART, France | Cardiac simulations |
| Roy, Frederick | R&D Software Lead – LNRobotics, South Korea | Mechanical simulation |
| Shao, Marine | Engineer – InSimo, France | Simulation |
| Subramani, N. | Engineer – Stryker, USA | Medical devices |
| Tagliabue, Eleonora | Researcher – Carl Zeiss AG, Germany | Biomechanics, robotics |
| Toulougoussou, Ange | Researcher – University Paris VI, France | Computational Mathematics |
| Tourrel, Guillaume | Research Engineer – Oticon Medical, France | Biomechanical simulation |
| Willems, Bruno | Engineer – Twinical, France | 3D VR/AR GUI |
Research
| Afzaal, Hamza | Researcher – University of Calgary, Canada | Scientific visu, haptics, XR |
| Ainouz, Ayoub | PhD Student – Lille University, France | Electrical engineering |
| Al-Zogbi, Lidia | PhD Student – Johns Hopkins University, USA | Biomechanics, medical robotics |
| Alora, John | PhD Student – Stanford University, USA | Soft-robotics |
| Averta, Giuseppe | Researcher – Politecnico di Torino, Italy | Soft-robotics |
| Barragan, Juan Antonio | PhD student – Johns Hopkins University, USA | VR/AR soft-tissue simulation |
| Beckers, Thibault | Student – University of Liège, Belgium | Cable-actuated soft-robotics |
| Behnam, Binesh | Engineer – SiMedix, Iran | Biomechanical simulation |
| Benamirouche, A. | Engineer – Sorbonne University, France | Soft-robotics, AI |
| Bilger, Alexandre | Engineer – Inria, France | Numerical methods, perf |
| Bjelland, Øystein | PhD Student – NTNU, Norway | Surgical simulation, haptics |
| Boldron, Arthur | PhD Student – Université Clermont Auvergne, France | Biomechanical simulation |
| Camoriano, Raffaello | Assistanto Prof. – Politecnico di Torino, Italy | Machine learning robotics |
| Catalano, Alice Maria | PhD Student – University of Genova, Italy | Biomedical simulation |
| Cavalcanti Santos, João | Researcher – LIRMM, France | Robotics |
| Cei, Gianmarco | PhD Student – University of Pisa, Italy | Biomechanics, robotics |
| Cherif, Intissar | PhD Student – Evry-Saclay University, France | VR/AR |
| Choi, Jaesoon | Professor – Asan Medical Center, South Korea | Medical simulation |
| Cisneros Limon, Rafael | Researcher – AIST, Japan | Soft-robotics |
| Coevoet, Eulalie | R&D Engineer – Inria, France | Soft-robotics |
| Cotin, Stephane | Researcher – Inria, France | Biomechanics |
| De Iturrate, Mikel | PhD student – King’s College London, UK | Biomedical simulations |
| Dehaybe, Louis | PhD Student – Univeristy of Liège, Belgium | Robotic manipulation |
| Dequidt, Jeremie | Full Professor – Inria, France | Biomechanics, geometric mod. |
| Dreyfus, Roland | PhD – ETH, Switzerland | Medical robotics |
| Ducrocq, Julien | Postdoc – NAIST, Japan | VR/AR, robotics |
| Duriez, Christian | Research Director – Inria, France | Soft-robotics |
| Ergun, Serkan | PhD Student – University of Klagenfurt, Germany | Human-robot interaction |
| Escaida, Stefan | Researcher – Universidad de O’Higgins, Chile | Soft-robotics |
| Evans, Michael | PhD Student – University of Sheffield, UK | Biomechanical simulation |
| Eyberg, Christoph | Researcher – Fraunhofer IPA, Germany | Soft-robotics |
| Fabrice, Jaillet | Researcher / University – LIRIS, France | Biomechanical simulation VR |
| Ferrentino, Pasquale | PhD Student – Vrije Universiteit Brussel, Belgium | Soft-robotics |
| Gesnouin, Philippe | e-Health Program Manager – Inria, France | Healthcare |
| Goury, Olivier | Researcher – Inria, France | Soft-robotics |
| Ha Thuc, Long | Phd Student – CNRS, France | Robotics |
| Haouchine, Nazim | Researcher – Harvard/BWH, USA | VR/AR computer vision |
| Ho, Van | Researcher – JAIST | Soft-robotics |
| Horsch, Johannes | Group manager – Fraunhofer IPA, Germany | Biomechanical simulation |
| Hu, Kejun | Engineer – FEMTO-ST, France | Biomechanics, soft-robotics |
| Huda, Nurul | Researcher – BUET, Bangladesh | Biomechanics, fluid simulation |
| Jackson, Benjamin | PhD student – King’s College London, UK | Soft-robotics |
| Jain, Harsh | Post Doctoral scientist – IISER Mohali, India | Mechanical simulation |
| Jiralerspong, Trivoramai | PhD Student – Tsinghua University, China | Soft-robotics |
| Nguyen, Giang | PhD Student – IAI University Bremen, Germany | Simulation, robotics |
| Kanno, Ryo | PhD Student – Empa, Switzerland | Soft-robotics |
| Karstensen, Lennart | PhD Student – FAU Erlangen-Nürnberg, Germany | Endovascular robotics |
| Kim, Ha | PhD Student – Pusan University, South Korea | Simulation, AI robotics |
| Kruszewski, Alexandre | Researcher – Centrale Lille, France | Soft-robotics |
| Le Gall, Alexia | PhD Student – Scuala Superiore Sant’Anna, Italy | Soft-robotics |
| Lebrun, Flavien | PostDoc – Laboratoire IBISC, France | Biomechanical simulation |
| Malak, Kanaan | PhD Student – Arinfo, France | VR/AR |
| Mandela, O. Fonkoua | PhD Student – Inria, France | Object manipulation |
| Marchal, Damien | Engineer – CNRS, France | Soft-robotics |
| Martin, Claire | PhD student – Inria, France | Biomechanical simulation |
| Martini, Michele | PhD Student – Istituto Italiano di Tecnologia, Italy | Soft-robotics |
| Masoud, Goharimanesh | Researcher – University of Torbat Heydarieh, Iran | Soft-robotics |
| Masson, Jean-Baptiste | Researcher – Inria/Pasteur/CNRS, France | Biomechanics, neuroscience |
| Mazier, Arnaud | Postdoc – University of Sydney, USA | Biomechanical simulations |
| Meddah, Ishak H.A | Researcher – University of Saida, Algeria | Computing |
| Ménager, Etienne | PhD student – Inria, France | Soft-robotics, AI |
| Navez, Tanguy | PhD Student – Inria, France | Soft-robotics, AI |
| Nhan, Nguyen | Researcher – JAIST, Japan | Soft-robotics |
| Nicotra, Emanuele | PhD student – UNSW, Australia | Soft-robotics |
| Nikolaev, Sergei | Postdoc – University of Montpellier, France | Biomechanics, biology |
| Nour, Mohamed-Yassir | ATER – University Lorraine, France | Computer graphics |
| Nyaga, Alice | PhD Student – Institut Pascal, France | Soft-robotics |
| Oberlé, Antoine | Research Engineer – CNRS, France | Robotics |
| Odot, Alban | PhD student – Self-employed, France | Biomechanics, AI |
| Peters, Jorg | Researcher – University of Florida, USA | Surgical AR solutions |
| Peyron, Quentin | Researcher – Inria, France | Soft-robotics |
| Pham, Viet | Working Student / M.Sc. Student in CS – Carl Zeiss AG, Germany | Reinforcement learning |
| Protopapa, Andrea | PhD Student – Politecnico di Torino, Italy | Soft-robotics |
| Rasheed, Bismi | PhD Student – NTNU, Norway | Surgery Simulation |
| Ribière, Véronique | Engineer – CNRS, France | Industrial, medical robotics |
| Ringel, Morgan | PhD Student – Vanderbilt University, USA | Biomechanical simulation |
| Robertshaw, Harry | PhD Student – King’s College London, UK | Soft-robotics |
| Rodríguez, Carlos | Professor – KU Leuven, Belgium | Surgical training |
| Roussel, Olivier | Engineer – Inria, France | Rigid-body dynamics |
| Sadati, Hadi | Research Fellow – King’s College London, UK | Soft-robotics |
| Sahifi, Hanie | Student – Amirkabir University of Technology, Iran | Soft-robotics |
| Samain, Guillaume | PhD Student – ISIR, France | Soft-robotics |
| Sanz Lopez, Mario | Engineer – CRIStAL/CNRS, France | Soft-robotics |
| Sarry, Laurent | Professor – Université Clermont Auvergne, France | Biomechanical simulation |
| Scarponi, Valentina | PhD student – Inria, France | Biomechanics |
| Scheikl, Paul Maria | PhD Student – FAU Erlangen-Nürnberg, Germany | ML, robot-assisted surgery |
| Tian, Sizhe | PhD Student – Inria, France | Soft-robotics |
| Tortos, Pablo | PhD Student – Chiba University, Japan | Soft-robotics |
| Tymkovych, Maksym | Researcher – Kharkiv NURE, Ukraine | Robotics |
| Vaillant, Joris | Engineer – Inria, France | Robotics |
| Vanneste, Félix | Post-doctorant – Inria, France | Soft-robotics |
| Varga, Balint | Research Group Leader – KIT, Germany | HMI, shared control |
| Wang, Xing | Researcher – CSIRO | Soft-robotics |
| Xu, Xin | PhD Student – PolyU, Hong-Kong | Parallel continuum robot |
| Yinoussa, Adagolodjo | Associate professor – Inria, France | Medical, soft-robotics |
| Youssef, Samuel | Engineer – Inria, France | Soft-robotics, AI |
| Zahra, Bounik | Postdoc – Self-employed, Iran | ML, simulation, VR |
| Zhang, Yiyuan | PhD Student – NUS, Singapore | Soft-robotics |
| Zhang, Zhongkai | Researcher – CAS, HongKong | Biomedical simulation |
| Zuo, Kaiwen | Master Student – CWRU, USA | Biomechanics, surgical robotics |
Consortium staff
| Baksic, Paul | Engineer – SOFA Consortium, France | Medical robotics |
| Talbot, Hugo | Engineer – SOFA Consortium, France | Community, Biomechanics |
