1 citations · 1 across the 8 of their papers we have counts for
11 papers
Rollbot 2: Agile Locomotion by a Single-Actuator Spherical Robot
Jingxian Wang*, Chen Yu*, Sam Kriegman +1
Reducing actuator count simplifies robot hardware but also removes independent inputs for maneuvering. The original Rollbot steered by modulating a quasi-stable helical orbit, but…
Evolving Dexterous Robots from Scratch
Zihan Guo, Shuzhe Zhang, Muhan Li +2
Little is known about how to manually design agents capable of dexterous manipulation. Some design principles have been inferred from close examination of how animals manipulate ob…
ECo-MoE: Embodiment-Conditioned Mixture of Experts Increases the Evolvability of Robots
Yibin Wang, Muhan Li, Zihan Guo +1
In this paper, we introduce a model of evolution and learning in robots that co-optimizes a distribution of latent design vectors (genotypes) and a mixture of control experts (neur…
Computational Design of a Low-Visibility UAV Using a Human-Aligned Perceptual Metric
Jingxian Wang, Chen Yu, David Matthews +3
We introduce Phantom Twist, a type of single-propeller UAV designed to achieve low visibility through high-speed spinning and the exploitation of motion blur. We develop a two-stag…
Creating manufacturable blueprints for coarse-grained virtual robots
Zihan Guo, Muhan Li, Shuzhe Zhang +1
Over the past three decades, countless embodied yet virtual agents have freely evolved inside computer simulations, but vanishingly few were realized as physical robots. This is be…
Robots that redesign themselves through kinematic self-destruction
Chen Yu, Sam Kriegman
Every robot built to date was predesigned by an external process, prior to deployment. Here we show a robot that actively participates in its own design during its lifetime. Starti…
Agile legged locomotion in reconfigurable modular robots
Chen Yu, David Matthews, Jingxian Wang +4
Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to f…
Accelerated co-design of robots through morphological pretraining
Luke Strgar, Sam Kriegman
The co-design of robot morphology and neural control typically requires using reinforcement learning to approximate a unique control policy gradient for each body plan, demanding m…
Generating Freeform Endoskeletal Robots
Muhan Li, Lingji Kong, Sam Kriegman
The automatic design of embodied agents (e.g. robots) has existed for 31 years and is experiencing a renaissance of interest in the literature. To date however, the field has remai…
Evolution and learning in differentiable robots
Luke Strgar, David Matthews, Tyler Hummer +1
The automatic design of robots has existed for 30 years but has been constricted by serial non-differentiable design evaluations, premature convergence to simple bodies or clumsy b…
A non-cubic space-filling modular robot
Tyler Hummer, Sam Kriegman
Space-filling building blocks of diverse shape permeate nature at all levels of organization, from atoms to honeycombs, and have proven useful in artificial systems, from molecular…