From the 1 of 10 linked papers with an AI index.
10 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…
RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policies
Tianxing Chen, Yue Chen, Zixuan Li +41
Generalist robot manipulation policies have advanced rapidly, yet existing benchmarks remain limited in systematically evaluating their capabilities. Many rely on simple, short-hor…
HumanScale: Egocentric Human Video Can Outperform Real-Robot Data for Embodied Pretraining
Juncheng Ma, Jianxin Bi, Yufan Deng +19
Embodied foundation models are expected to benefit from data scaling like large language models, but face a much tighter data bottleneck. Teleoperated real-robot trajectories remai…
WorldParticle: Unified World Simulation of Lagrangian Particle Dynamics via Transformer
Caoliwen Wang, Minghao Guo, Siyuan Chen +13
A unified simulator that can model diverse physical phenomena without solver-specific redesign is a long-standing goal across simulation science. We present a learning-based partic…
GeoPT: Scaling Physics Simulation via Lifted Geometric Pre-Training
Haixu Wu, Minghao Guo, Zongyi Li +4
Neural simulators promise efficient surrogates for physics simulation, but scaling them is bottlenecked by the prohibitive cost of generating high-fidelity training data. Pre-train…
M-ABD: Scalable, Efficient, and Robust Multi-Affine-Body Dynamics
Zhiyong He, Dewen Guo, Minghao Guo +6
Simulating large-scale articulated assemblies poses a significant challenge due to the numerical stiffness and geometric complexity of jointed structures. Conventional rigid body s…