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cs.RO2025
Flow Matching Ergodic Coverage
Max Muchen Sun, Allison Pinosky, Todd Murphey
Ergodic coverage effectively generates exploratory behaviors for embodied agents by aligning the spatial distribution of the agent's trajectory with a target distribution, where th…
cs.RO2024
Human Robot Pacing Mismatch
Muchen Sun, Peter Trautman, Todd Murphey
A widely accepted explanation for robots planning overcautious or overaggressive trajectories alongside human is that the crowd density exceeds a threshold such that all feasible t…
cs.RO2023
Automated Gait Generation For Walking, Soft Robotic Quadrupeds
Jake Ketchum, Sophia Schiffer, Muchen Sun +3
Gait generation for soft robots is challenging due to the nonlinear dynamics and high dimensional input spaces of soft actuators. Limitations in soft robotic control and perception…