From the 1 of 5 linked papers with an AI index.
5 papers
Energy-Based Physics-Informed Form Finding for Clustered Tensegrity Structures
Jing Qin, Muhao Chen
The paper introduces an energy-based learning framework that simultaneously finds equilibrium shapes and predicts internal forces for clustered tensegrity structures, improving rob…
Codec-Gauge: Learning Compression-Friendly Gauges for Transformer KV Caches
Yitao Jiang, Yaoqing Yang, Luyang Zhao +2
Long-context Transformer inference increasingly relies on KV-cache compression or quantization. Prior rotation and transform-coding results suggest that the channel basis of each k…
Manipulider: A Multi-Engine Buoyancy-Controlled Robot for Thrusterless Underwater Gliding and Manipulation
Yitao Jiang, Yewei Huang, Weizhi Cao +5
The Manipulider is a buoyancy-actuated underwater robot that enables thrusterless, glide-like locomotion and attitude-based manipulation, while providing a magnetic modular interfa…
An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion
Luyang Zhao, Yitao Jiang, Chun-Yi She +5
This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, wi…
SoftSnap: Rapid Prototyping of Untethered Soft Robots Using Snap-Together Modules
Luyang Zhao, Yitao Jiang, Chun-Yi She +2
Soft robots offer adaptability and safe interaction with complex environments. Rapid prototyping kits that allow soft robots to be assembled easily will allow different geometries…