10 citations · 12 across the 3 of their papers we have counts for
4 papers
Versatile Loco-Manipulation through Flexible Interlimb Coordination
Xinghao Zhu, Yuxin Chen, Lingfeng Sun +4
The ability to flexibly leverage limbs for loco-manipulation is essential for enabling autonomous robots to operate in unstructured environments. Yet, prior work on loco-manipulati…
Differentiable Physics Simulation of Dynamics-Augmented Neural Objects
Simon Le Cleac'h, Hong-Xing Yu, Michelle Guo +5
We present a differentiable pipeline for simulating the motion of objects that represent their geometry as a continuous density field parameterized as a deep network. This includes…
Dojo: A Differentiable Physics Engine for Robotics
Taylor A. Howell, Simon Le Cleac'h, Jan Brüdigam +5
We present Dojo, a differentiable physics engine for robotics that prioritizes stable simulation, accurate contact physics, and differentiability with respect to states, actions, a…
Robust Entry Vehicle Guidance with Sampling-Based Invariant Funnels
Remy Derollez, Simon Le Cleac'h, Zachary Manchester
Managing uncertainty is a fundamental and critical issue in spacecraft entry guidance. This paper presents a novel approach for uncertainty propagation during entry, descent and la…