6 papers
Combined Constrained Sampling and Reinforcement Learning for Robotic Manipulation
Marc Toussaint, Cornelius V. Braun, Armand Jordana +5
Training non-prehensile manipulation policies in contact-rich settings is a core challenge in robotics. While Reinforcement Learning (RL) has demonstrated its strength in such sett…
Sungrazer comets as analogs of star-planet magnetic interactions
L-S. Guité, A. Strugarek, A. J. Finley +5
Star-planet magnetic interactions (SPMIs) can transfer energy from an exoplanet to its host star via Alfvén waves when the planet orbits within a sub-Alfvénic stellar wind. Simil…
Frictional Contact Solving for Material Point Method
Etienne Ménager, Justin Carpentier
Accurately handling contact with friction remains a core bottleneck for Material Point Method (MPM), from reliable contact point detection to enforcing frictional contact laws (non…
End-to-End and Highly-Efficient Differentiable Simulation for Robotics
Quentin Le Lidec, Louis Montaut, Yann de Mont-Marin +2
Over the past few years, robotics simulators have largely improved in efficiency and scalability, enabling them to generate years of simulated data in a few hours. Yet, efficiently…
Optimal Control of Walkers with Parallel Actuation
Ludovic de Matteis, Virgile Batto, Justin Carpentier +1
Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain…
Differentiable Simulation of Soft Robots with Frictional Contacts
Etienne Ménager, Louis Montaut, Quentin Le Lidec +1
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and act…