deformable object simulation 1model predictive control 1neural network residuals 1physics-based modeling 1temporal transformers 1
From the 1 of 3 linked papers with an AI index.
3 papers
cs.RO2026
BoxTwin: Learning Elastoplastic Articulated Object Dynamics from Videos
Heng Zhang, Gehan Zheng, Kaifeng Zhang +6
Digital twins enable robots to anticipate and adapt to physical interactions, but existing models struggle with elastoplastic articulated objects (EAOs) that exhibit nonlinear elas…
cs.RO2026
Learning Physics-Guided Residual Dynamics for Deformable Object Simulation
Shivansh Patel, Kaifeng Zhang, Sanjay Pokkali +2
The paper introduces Physics-Guided Residual Dynamics (PGRD), a hybrid framework that augments a spring‑mass physics simulator with a neural network predicting residual corrections…
cs.RO2026
CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance
Leo Lin, Shivansh Patel, Jay Moon +2
We introduce CRAFT hand, a tendon-driven anthropomorphic hand with hybrid hard-soft compliance for contact-rich manipulation. The design is based on a simple idea: contact is not u…