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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.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…