3 papers
cs.RO2025
One-Shot Real-to-Sim via End-to-End Differentiable Simulation and Rendering
Yifan Zhu, Tianyi Xiang, Aaron Dollar +1
Identifying predictive world models for robots in novel environments from sparse online observations is essential for robot task planning and execution in novel environments. Howev…
cs.RO2024
Tactile Probabilistic Contact Dynamics Estimation of Unknown Objects
Jinhoo Kim, Yifan Zhu, Aaron Dollar
We study the problem of rapidly identifying contact dynamics of unknown objects in partially known environments. The key innovation of our method is a novel formulation of the cont…
math.OC2024
Global Convergence of an SQP Method for Contact-Implicit Trajectory Optimization
Zherong Pan, Yifan Zhu, Fuquan Wang
Contact-Implicit Trajectory Optimization (CITO) is a powerful framework for planning motions of robots that interact with complex environments, but its convergence behavior remains…