Sheldon Andrews

Associate Professor of Software and IT Engineering

École de technologie supérieure

Ph.D. (Computer Science)

McGill University

2015
M.A.Sc. (Electrical and Computer Eng.)

University of Ottawa

2007
B.Eng. (Computer Engineering)

Memorial University

2004

I am an Associate professor of Software and IT Engineering at the École de technologie supérieure and an Adjunct professor of Computer Science at McGill University in Montreal, Canada. I was previously a visiting researcher at Roblox Research.

My research interests include real-time physics simulation, 3D character animation, motion capture, simulation of articulated mechanisms, computational contact mechanics, and measurement based modelling for virtual environments.

A complete list of my publications, posters, talks, and demos is available here.

Professional Activities

Program Chair

SCA 2025
MIG 2024
GI 2022
I3D 2020
VRIPHYS 2018

Conference Chair

I3D 2019

Posters Chair

GI 2018
I3D 2018

Steering Committee

I3D 2019-2022
VRIPHYS 2018-2019

Program Committee

SIGGRAPH Asia 2023
SIGGRAPH 2021, 2025
SIGGRAPH Unified Jury 2019, 2022
SCA 2018, 2019, 2020, 2021, 2022, 2023, 2024
MIG 2018, 2019, 2020, 2022, 2025
VRIPHYS 2018
IEEE AIVR 2018

Tertiary Reviewer (selected)

SIGGRAPH 2016, 2017, 2018, 2019, 2020, 2022, 2023, 2024, 2025
SIGGRAPH Asia 2013, 2015, 2017, 2020, 2021, 2023, 2024
Eurographics 2012, 2016, 2017
Pacific Graphics 2024
IEEE/RSJ IROS 2018-2020
Computer Graphics Forum (CGF)
Computers & Graphics
Graphics Interface (GI)
IEEE Transactions on Computer Graphics (TVCG)
IEEE Robotics and Automation Letters (RA-L)
IEEE Computer Graphics and Applications (CGA)

Other Committees

Secretary, Montreal SIGGRAPH Chapter 2018-2021

Previous and Current Students

Current Students

Matheus Cavazotti, PhD
Hanad Elmi, MASc (co-supervised with Luc Duong)
Melissa Katz, PhD (McGill, with Paul Kry)
Nicolas Rosset, Post Doc
Quoc-Minh Ton-That, PhD (co-supervised by Paul Kry)
Hossein Feizollah Zadeh Khoiee, PhD (co-supervised by David Labbé)
Loic Nassif, PhD (McGill, with Paul Kry)
Yinchu Liu, PhD (co-supervised by Kenny Erleben)
Yosr Takouti, MASc (co-supervised by David Labbé)
Alex Minh Hoang-Cao, MASc
Antoine Boucher, MASc

Previous Graduate Students

Pranav Agarwal, PhD - went to Wayve
Joël Pelletier-Guénette, MASc
Alexandre Mercier-Aubin, Post Doc - Professor at Sherbooke University
Melissa Katz, M.Sc. (McGill, with Paul Kry)
Andreas Enzenhoefer, M.Sc. (McGill, with Paul Kry)
Yunhao Luo, MSc (McGill)
Omar Zoubir, MEng
Juliette Seminaro, MASc (with David Labbé)
Benjamin Boineau, MEng (with Adrien Gruson)
Anthony Frezzato, MASc
Yinchu Liu, MASc
Henry Ho, MSc (McGill, with Paul Kry)
Abdesselam Guerroudj, MASc
Marwen Kraiem, MASc - went to DNEG
Nicolas Lefebvre, MASc - went to CM Labs Simulations
Nabil Boukadida, MASc (co-supervised with Eric Paquette) - went to AMD

Previous Undergraduate and Interns

Nellou Michel, Université de Toulon (intern)
Joël Pelletier-Guénette, BEng research intern
Arsh Tangri, Undergraduate MITACS Globalinks (intern)
Syrine Enneifer, McGill University (intern)
Lanxuan Zhou, Undergraduate MITACS Globalinks (intern)
Dmitri Kolytchev, BEng (intern) - founded Hekaton Studio

Prospective Students

I am currently looking for Ph.D. and Masters students who are interested in 3D character animation, real-time multibody dynamics, and computational contact mechanics. Please see the list of available projects.

Selected Publications

GEOPARD: Geometric Pretraining for Articulation Prediction in 3D Shapes

P Goyal, D Petrov, S Andrews, Y Ben-Shabat, HT Derek Liu, E Kalogerakis

ICCV, 2025

PDF Project

Policy-space Interpolation for Physics-based Characters

M Rocca, S Andrews, K Erleben

PACM CGIT, 2025

PDF Project

Real-Time Triangle-SDF Continuous Collision Detection

J Pelletier-Guénette, A Mercier-Aubin, S Andrews

SCA, 2025

PDF Video

Rig My Ride: Automatic Rigging of Physics-based Vehicles for Games

M Katz, PG Kry, S Andrews

SCA, 2025

PDF Project Video

Policy-Space Diffusion for Physics-Based Character Animation

M Rocca, S Darkner, K Erleben, S Andrews

ACM TOG, 2025

PDF Project Video

Multiphysics Simulation Methods in Computer Graphics

D Holz, SR Jeske, F Loschner, J Bender, Y Yang, S Andrews

CGF, 2025

PDF

Adaptive Distributed Simulation of Fluids and Rigid Bodies

H Shi, V Zordan, Y Yang, S Andrews

MIG, 2024

PDF Video

Adaptive Sub-stepping for Constrained Rigid Body Simulations

C Giles, S Andrews

MIG, 2024

PDF Video

Generalized eXtended Finite Element Method for Deformable Cutting via Boolean Operations

QM Ton-That, PG Kry, S Andrews

CGF, 2024

PDF Slides Video

PartwiseMPC: Interactive Control of Contact-Guided Motions

N Khoshsiyar, R Gou, T Zhou, S Andrews, M van de Panne

CGF, 2024

PDF Video

Learning to Play Atari in a World of Tokens

P Agarwal, S Andrews, S Ebrahimi Kahou

ICML, 2024

PDF Code Slides

AdaptNet: Policy Adaptation for Physics-Based Character Control

P Xu, K Xie, S Andrews, PG Kry, VB Zordan, M Neff, M McGuire, I Karamouzas, V Zordan

SIGGRAPH Asia, 2023

PDF Video

Too Stiff, Too Strong, Too Smart: Evaluating Fundamental Problems with Motion Control Policies

K Xie, P Xu, S Andrews, VB Zordan, PG Kry

PACM CGIT, 2023

PDF Slides Video

Parallel Block Neo-Hookean XPBD using Graph Clustering

QM Ton-That, PG Kry, S Andrews

CAG, 2023

PDF Slides Video

Constraint-based Simulation of Passive Suction Cups

A Bernardin, E Coevoet, PG Kry, S Andrews, C Duriez, M Marchal

ACM TOG, 2022

PDF Video

Contact and Friction Simulation for Computer Graphics

S Andrews, K Erleben, Z Ferguson

SIGGRAPH Courses, 2022

PDF Code Video

Synthesizing Get-Up Motions for Physics-based Characters

A Frezzato, A Tangri, S Andrews

CGF, 2022

PDF Video

Graph Partitioning Algorithms for Rigid Body Simulations

Y Liu, S Andrews

EG, 2022

PDF Video

Catching and Throwing Control of a Physically Simulated Hand

Y Luo, X Kaixiang, S Andrews, PG Kry

MIG, 2021

PDF Video

Coupling Friction with Visual Appearance

S Andrews, L Nassif, K Erleben, PG Kry

PACM CGIT, 2021

PDF Video

Distant Collision Response in Rigid Body Simulations

E Coevoet, S Andrews, D Relles, PG Kry

CGF, 2020

PDF Slides Video

The Matchstick Model for Anisotropic Friction Cones

K Erleben, M Macklin, S Andrews, PG Kry

CGF, 2019

PDF Video

Schur Complement-based Substructuring of Stiff Multibody Systems with Contact

A Peiret^*, S Andrews^*, J Kovecses, PG Kry, M Teichmann

ACM TOG, 2019

PDF Video

Efficient block pivoting for multibody simulations with contact

A Enzenhöfer, N Lefebvre, S Andrews

I3D, 2019

PDF Video

Inverse kinematics problems with exact Hessian matrices

K Erleben, S Andrews

CaG, 2019

PDF Video MIG'17 paper Supplementary notes GitHub repo

Comparison of Mixed Linear Complementarity Problem Solvers for Multibody Simulations with Contact

Andreas Enzenhofer, Sheldon Andrews, Marek Teichmann, Jozsef Kövecses

VRIPHYS, 2018

PDF Video

Task-based design of cable-driven articulated mechanisms

J Li, S Andrews, K Birkas, PG Kry

SCF, 2017

PDF Video

Geometric stiffness for real-time constrained multibody dynamics

S Andrews, M Teichmann, PG Kry

CGF, 2017

PDF Slides Video Project page

Real-time physics-based motion capture with sparse sensors

S Andrews, I Huerta, T Komura, L Sigal, K Mitchell

CVMP, 2016

PDF Video Project page

Blended linear models for reduced compliant mechanical systems

S Andrews, M Teichmann, PG Kry

TVCG, 2016

PDF Video

Publications

P Goyal, D Petrov, S Andrews, Y Ben-Shabat, HT Derek Liu, E Kalogerakis. GEOPARD: Geometric Pretraining for Articulation Prediction in 3D Shapes. ICCV, 2025.

PDF Project

M Rocca, S Andrews, K Erleben. Policy-space Interpolation for Physics-based Characters. PACM CGIT, 2025.

PDF Project

J Pelletier-Guénette, A Mercier-Aubin, S Andrews. Real-Time Triangle-SDF Continuous Collision Detection. SCA, 2025.

PDF Video

M Katz, PG Kry, S Andrews. Rig My Ride: Automatic Rigging of Physics-based Vehicles for Games. SCA, 2025.

PDF Project Video

M Rocca, S Darkner, K Erleben, S Andrews. Policy-Space Diffusion for Physics-Based Character Animation. ACM TOG, 2025.

PDF Project Video

D Holz, SR Jeske, F Loschner, J Bender, Y Yang, S Andrews. Multiphysics Simulation Methods in Computer Graphics. CGF, 2025.

PDF

H Shi, V Zordan, Y Yang, S Andrews. Adaptive Distributed Simulation of Fluids and Rigid Bodies. MIG, 2024.

PDF Video

C Giles, S Andrews. Adaptive Sub-stepping for Constrained Rigid Body Simulations. MIG, 2024.

PDF Video

QM Ton-That, PG Kry, S Andrews. Generalized eXtended Finite Element Method for Deformable Cutting via Boolean Operations. CGF, 2024.

PDF Slides Video

N Khoshsiyar, R Gou, T Zhou, S Andrews, M van de Panne. PartwiseMPC: Interactive Control of Contact-Guided Motions. CGF, 2024.

PDF Video

P Agarwal, S Andrews, S Ebrahimi Kahou. Learning to Play Atari in a World of Tokens. ICML, 2024.

PDF Code Slides

P Xu, K Xie, S Andrews, PG Kry, VB Zordan, M Neff, M McGuire, I Karamouzas, V Zordan. AdaptNet: Policy Adaptation for Physics-Based Character Control. SIGGRAPH Asia, 2023.

PDF Video

K Xie, P Xu, S Andrews, VB Zordan, PG Kry. Too Stiff, Too Strong, Too Smart: Evaluating Fundamental Problems with Motion Control Policies. PACM CGIT, 2023.

PDF Slides Video

QM Ton-That, PG Kry, S Andrews. Parallel Block Neo-Hookean XPBD using Graph Clustering. CAG, 2023.

PDF Slides Video

A Bernardin, E Coevoet, PG Kry, S Andrews, C Duriez, M Marchal. Constraint-based Simulation of Passive Suction Cups. ACM TOG, 2022.

PDF Video

S Andrews, K Erleben, Z Ferguson. Contact and Friction Simulation for Computer Graphics. SIGGRAPH Courses, 2022.

PDF Code Video

A Frezzato, A Tangri, S Andrews. Synthesizing Get-Up Motions for Physics-based Characters. CGF, 2022.

PDF Video

Y Liu, S Andrews. Graph Partitioning Algorithms for Rigid Body Simulations. EG, 2022.

PDF Video

Y Luo, X Kaixiang, S Andrews, PG Kry. Catching and Throwing Control of a Physically Simulated Hand. MIG, 2021.

PDF Video

S Andrews, L Nassif, K Erleben, PG Kry. Coupling Friction with Visual Appearance. PACM CGIT, 2021.

PDF Video

E Coevoet, S Andrews, D Relles, PG Kry. Distant Collision Response in Rigid Body Simulations. CGF, 2020.

PDF Slides Video

K Erleben, M Macklin, S Andrews, PG Kry. The Matchstick Model for Anisotropic Friction Cones. CGF, 2019.

PDF Video

A Peiret^*, S Andrews^*, J Kovecses, PG Kry, M Teichmann. Schur Complement-based Substructuring of Stiff Multibody Systems with Contact. ACM TOG, 2019.

PDF Video

A Enzenhöfer, N Lefebvre, S Andrews. Efficient block pivoting for multibody simulations with contact. I3D, 2019.

PDF Video

K Erleben, S Andrews. Inverse kinematics problems with exact Hessian matrices. CaG, 2019.

PDF Video MIG'17 paper Supplementary notes GitHub repo

Xiaokai Li, Sheldon Andrews, Ben Jones, Adam Bargteil. Energized Rigid Body Fracture. PACM CGIT, 2018.

PDF Video

Andreas Enzenhofer, Sheldon Andrews, Marek Teichmann, Jozsef Kövecses. Comparison of Mixed Linear Complementarity Problem Solvers for Multibody Simulations with Contact. VRIPHYS, 2018.

PDF Video

K Erleben, S Andrews. Inverse kinematics problems with exact Hessian matrices. MIG, 2017.

PDF Video Supplementary notes GitHub repo

J Li, S Andrews, K Birkas, PG Kry. Task-based design of cable-driven articulated mechanisms. SCF, 2017.

PDF Video

X Chen, S Andrews, D Nowrouzezahrai, PG Kry. Ballistic shadow art. GI, 2017.

PDF Slides Video

S Andrews, M Teichmann, PG Kry. Geometric stiffness for real-time constrained multibody dynamics. CGF, 2017.

PDF Slides Video Project page

S Andrews, I Huerta, T Komura, L Sigal, K Mitchell. Real-time physics-based motion capture with sparse sensors. CVMP, 2016.

PDF Video Project page

S Andrews, M Teichmann, PG Kry. Blended linear models for reduced compliant mechanical systems. TVCG, 2016.

PDF Video

S Andrews, M Teichmann, PG Kry. FORKS: Interactive compliant mechanisms with parallel state computation. I3D, 2014.

PDF Video

S Andrews, M Jarvis, PG Kry. Data-driven fingertip appearance for interactive hand simulation. MIG, 2013.

PDF Video GitHub repo

S Andrews, PG Kry. Goal directed multi-finger manipulation: control policies and analysis. C&G, 2013.

PDF Video

S Andrews, PG Kry. Policies for goal directed multi-finger manipulation. VRIPHYS, 2012.

PDF Video

J Lang, S Andrews. Measurement-based modeling of contact forces and textures for haptic rendering. TVCG, 2011.

PDF Video

M Eid, S Andrews, A Alamri, A El Saddik. HAMLAT: A HAML-based authoring tool for haptic application development. EuroHaptics, 2008.

PDF

S Andrews, J Mora, J Lang, WS Lee. HaptiCast: A physically based 3D game with haptic feedback. FuturePlay, 2006.

PDF Code Video Project page

Contact

sheldon.andrews@etsmtl.ca
514-396-8496
Office: A-4459, 1100 Notre-Dame Street W., Montréal, QC

Sheldon Andrews

Associate Professor of Software and IT Engineering

Program Chair

Conference Chair

Posters Chair

Steering Committee

Program Committee

Tertiary Reviewer (selected)

Other Committees

Current Students

Previous Graduate Students

Previous Undergraduate and Interns

Selected Publications

Publications

Teaching

Contact