139 citations · 527 across the 41 of their papers we have counts for
6 papers · 1 filter
Diverse and Adaptable Arm Coordination for Octopus-Crawling via Diffusion-Based Uncertainty-Aware Optimization
Seung Hyun Kim, Heng-Sheng Chang, Kimia Kazemi +2
Octopus crawling motivates soft robots that exploit redundancy, yet discovering and organizing diverse coordination modes for adaptation remains challenging. To address this, we in…
Elastica++: A high-performance, multiphysics framework for large interacting assemblies of Cosserat rods
Tejaswin Parthasarathy, Seung Hyun Kim, Songyuan Cui +1
Soft, slender structures are ubiquitous in natural and engineered systems, with broad application potential from biomimetic materials to soft robotics. However, there is a notable…
Learning, locomotion, and navigation of soft synthetic snakes in three-dimensional, heterogeneous environments
Xiaotian Zhang, Ali Albazroun, Tixian Wang +3
Limbless terrestrial animals exhibit exceptional locomotor versatility and control, currently unmatched by engineered counterparts. Here, we introduce a computational framework tha…
Computing with Living Neurons: Chaos-Controlled Reservoir Computing with Knowledge Transplant
Seung Hyun Kim, Zhi Dou, Gaurav Upadhyay +6
We introduce chaos-controlled Reservoir Computing (cc-RC) for living neural cultures: dynamically rich substrates of unique potential for adaptive computation. To account for intri…
Joint Surrogate Learning of Objectives, Constraints, and Sensitivities for Efficient Multi-objective Optimization of Neural Dynamical Systems
Frithjof Gressmann, Ivan Georgiev Raikov, Seung Hyun Kim +3
Gaussian process surrogates dominate constrained multi-objective optimization because they are effective in data-scarce regimes, but their cubic scaling in training samples limits…
S2Act: Simple Spiking Actor
Ugur Akcal, Seung Hyun Kim, Mikihisa Yuasa +6
Spiking neural networks (SNNs) and biologically-inspired learning mechanisms are attractive in mobile robotics, where the size and performance of onboard neural network policies ar…