3 papers
cs.RO2025
Vysics: Object Reconstruction Under Occlusion by Fusing Vision and Contact-Rich Physics
Bibit Bianchini, Minghan Zhu, Mengti Sun +3
We introduce Vysics, a vision-and-physics framework for a robot to build an expressive geometry and dynamics model of a single rigid body, using a seconds-long RGBD video and the r…
cs.CV2023
Instance-Agnostic Geometry and Contact Dynamics Learning
Mengti Sun, Bowen Jiang, Bibit Bianchini +2
This work presents an instance-agnostic learning framework that fuses vision with dynamics to simultaneously learn shape, pose trajectories, and physical properties via the use of…
cs.RO2021
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles
Scott Gilroy, Derek Lau, Lizhi Yang +8
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exp…