2 papers
cs.RO2026
Rapidly Learning Soft Robot Control via Implicit Time-Stepping
Andrew Choi, Dezhong Tong, Xiaonan Huang
With the explosive growth of rigid-body simulators, policy learning in simulation has become the de facto standard for most rigid morphologies. In contrast, soft robotic simulation…
cond-mat.soft2025
Discrete Differential Geometry for Simulating Nonlinear Behaviors of Flexible Systems: A Survey
Dezhong Tong, Andrew Choi, Jiaqi Wang +7
Flexible slender structures such as rods, ribbons, plates, and shells exhibit extreme nonlinear responses bending, twisting, buckling, wrinkling, and self contact, that defy conven…