3 papers
cs.RO2026
Fast Asymptotically Optimal Kinodynamic Planning via Vectorization
Yitian Gao, Andrew Lu, Zachary Kingston
Sampling-based motion planners have been shown to be effective for systems with complex kinodynamic constraints and high dimensionality. However, these algorithms struggle to achie…
cs.RO2026
Parallel Simulation of Contact and Actuation for Soft Growing Robots
Yitian Gao, Lucas Chen, Priyanka Bhovad +3
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is the…
cs.RO2025
Physics-Grounded Differentiable Simulation for Soft Growing Robots
Lucas Chen, Yitian Gao, Sicheng Wang +3
Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain cha…