From the 1 of 5 linked papers with an AI index.
5 papers
NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception
Zhiyang Dou, John U. Onyemelukwe, Hangxing Zhang +9
NeuralActuator is a neural network model that predicts actuator effort, external contact forces, and motor condition for low‑cost robot arms, using differentiable simulation and a…
SemanticOpt: Towards LLM-Based Semantic Black-Box Optimization
Jamison Meindl, Yunsheng Tian, Tony Cui +5
Optimizing an experimental system can be extremely challenging when each experiment is expensive, time-consuming, or difficult to perform. Existing optimizers for expensive black-b…
ZeroShotOpt: Towards Zero-Shot Pretrained Models for Efficient Black-Box Optimization
Jamison Meindl, Yunsheng Tian, Tony Cui +6
Global optimization of expensive, derivative-free black-box functions requires extreme sample efficiency. While Bayesian optimization (BO) is the current state-of-the-art, its perf…
Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning
Yunsheng Tian, Joshua Jacob, Yijiang Huang +10
Multi-part assembly poses significant challenges for robots to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present Fabrica, a…
Boundary Exploration for Bayesian Optimization With Unknown Physical Constraints
Yunsheng Tian, Ane Zuniga, Xinwei Zhang +5
Bayesian optimization has been successfully applied to optimize black-box functions where the number of evaluations is severely limited. However, in many real-world applications, i…