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09/15/2023
Neural Metamaterial Networks for Nonlinear Material Design
Nonlinear metamaterials with tailored mechanical properties have applica...
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08/09/2023
TRTM: Template-based Reconstruction and Target-oriented Manipulation of Crumpled Cloths
Precisely reconstructing and manipulating crumpled cloths is challenging...
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08/08/2023
Embracing Safe Contacts with Contact-aware Planning and Control
Unlike human beings that can employ the entire surface of their limbs as...
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08/03/2023
No Free Slide: Spurious Contact Forces in Incremental Potential Contact
Modeling contact between deformable solids is a fundamental problem in c...
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06/21/2023
Optimistic Active Exploration of Dynamical Systems
Reinforcement learning algorithms commonly seek to optimize policies for...
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06/12/2023
Tuning Legged Locomotion Controllers via Safe Bayesian Optimization
In this paper, we present a data-driven strategy to simplify the deploym...
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05/29/2023
RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion
This letter presents a versatile control method for dynamic and robust l...
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05/23/2023
Differentiable Stripe Patterns for Inverse Design of Structured Surfaces
Stripe patterns are ubiquitous in nature and everyday life. While the sy...
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04/19/2023
A Mollification Scheme for Task and Motion Planning
Task and motion planning is one of the key problems in robotics today. I...
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03/16/2023
Efficient Learning of High Level Plans from Play
Real-world robotic manipulation tasks remain an elusive challenge, since...
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10/14/2022
Computational Design of Active Kinesthetic Garments
Garments with the ability to provide kinesthetic force-feedback on-deman...
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07/21/2022
Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis
We present a versatile nonlinear model predictive control (NMPC) formula...
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04/20/2022
Differentiable Collision Avoidance Using Collision Primitives
A central aspect of robotic motion planning is collision avoidance, wher...
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04/09/2022
Trajectory Optimization Using Neural Network Gradients of Learned Dynamics
Trajectory optimization methods have achieved an exceptional level of pe...
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03/07/2022
Learning Solution Manifolds for Control Problems via Energy Minimization
A variety of control tasks such as inverse kinematics (IK), trajectory o...
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02/03/2022
Spatial Computing and Intuitive Interaction: Bringing Mixed Reality and Robotics Together
Spatial computing – the ability of devices to be aware of their surround...
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07/06/2021
SGN: Sparse Gauss-Newton for Accelerated Sensitivity Analysis
We present a sparse Gauss-Newton solver for accelerated sensitivity anal...
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02/22/2021
NTopo: Mesh-free Topology Optimization using Implicit Neural Representations
Recent advances in implicit neural representations show great promise wh...
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02/10/2021
Manipulability optimization for multi-arm teleoperation
Teleoperation provides a way for human operators to guide robots in situ...
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11/25/2020
Deep Physics-aware Inference of Cloth Deformation for Monocular Human Performance Capture
Recent monocular human performance capture approaches have shown compell...
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07/02/2020
ADD: Analytically Differentiable Dynamics for Multi-Body Systems with Frictional Contact
We present a differentiable dynamics solver that is able to handle frict...
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10/12/2019
Trajectory optimization for a class of robots belonging to Constrained Collaborative Mobile Agents (CCMA) family
We present a novel class of robots belonging to Constrained Collaborativ...
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01/09/2019
An optimization framework for simulation and kinematic control of Constrained Collaborative Mobile Agents (CCMA) system
We present a concept of constrained collaborative mobile agents (CCMA) s...
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01/09/2019
Optimization driven kinematic control of constrained collaborative mobile agents with high mobility
Industrial robots, in particular serial industrial manipulators, have en...
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06/19/2018
Automatic Design of Task-specific Robotic Arms
We present an interactive, computational design system for creating cust...
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01/01/2018