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cs.RO2025
Realizing Robotic Swimming with Unified Fluid-Robot Multiphysics
Jeong Hun Lee, Junzhe Hu, Sofia Kwok +2
Matching the swimming efficiency and agility of fish has remained an elusive goal in underwater robotics. Such locomotion capabilities rely on complex vortex interactions between t…
cs.RO2024
Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control
Juan Alvarez-Padilla, John Z. Zhang, Sofia Kwok +2
This paper presents a system for enabling real-time synthesis of whole-body locomotion and manipulation policies for real-world legged robots. Motivated by recent advancements in r…