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cs.RO2025
Efficient Differentiable Contact Model with Long-range Influence
Xiaohan Ye, Kui Wu, Zherong Pan +1
With the maturation of differentiable physics, its role in various downstream applications: such as model predictive control, robotic design optimization, and neural PDE solvers, h…
cs.RO2025
RA-DP: Rapid Adaptive Diffusion Policy for Training-Free High-frequency Robotics Replanning
Xi Ye, Rui Heng Yang, Jun Jin +2
Diffusion models exhibit impressive scalability in robotic task learning, yet they struggle to adapt to novel, highly dynamic environments. This limitation primarily stems from the…
cs.RO2024
SDRS: Shape-Differentiable Robot Simulator
Xiaohan Ye, Xifeng Gao, Kui Wu +2
Robot simulators are indispensable tools across many fields, and recent research has significantly improved their functionality by incorporating additional gradient information. Ho…