3 papers
cs.MS2025
optHIM: Hybrid Iterative Methods for Continuous Optimization in PyTorch
Nikhil Sridhar, Sajiv Shah
We introduce optHIM, an open-source library of continuous unconstrained optimization algorithms implemented in PyTorch for both CPU and GPU. By leveraging PyTorch's autograd, optHI…
cs.RO2021
SiMPLeR: A Series-Elastic Manipulator with Passive Variable Stiffness for Legged Robots
Sajiv Shah, Brad Saund
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, th…
cs.RO2021
Simulated Data Generation Through Algorithmic Force Coefficient Estimation for AI-Based Robotic Projectile Launch Modeling
Sajiv Shah, Ayaan Haque, Fei Liu
Modeling of non-rigid object launching and manipulation is complex considering the wide range of dynamics affecting trajectory, many of which may be unknown. Using physics models c…