6 papers
Damage Adaptation in Seconds for Architected Materials
James Avtges, Jake Ketchum, Helena Young +3
Adaptation to damages and in-situ physical repairs is essential for long-term robot autonomy, yet challenging outside of narrowly defined and well-anticipated bounds. In this work…
Volumetric Ergodic Control
Jueun Kwon, Max M. Sun, Todd Murphey
Ergodic control synthesizes optimal coverage behaviors over spatial distributions for nonlinear systems. However, existing formulations model the robot as a non-volumetric point, w…
Interdisciplinary Workshop on Mechanical Intelligence: Summary Report
Victoria A. Webster-Wood, Nicholas Gravish, Amir Alavi +37
This report provides a summary of the outcomes of the Interdisciplinary Workshop on Mechanical Intelligence held in 2024. Mechanical Intelligence (MI) represents the phenomenon tha…
Manufacturing Micro-Patterned Surfaces with Multi-Robot Systems
Annalisa T. Taylor, Malachi Landis, Ping Guo +1
Applying micro-patterns to surfaces has been shown to impart useful physical properties such as drag reduction and hydrophobicity. However, current manufacturing techniques cannot…
Structured Imitation Learning of Interactive Policies through Inverse Games
Max M. Sun, Todd Murphey
Generative model-based imitation learning methods have recently achieved strong results in learning high-complexity motor skills from human demonstrations. However, imitation learn…
Scalable Coverage Trajectory Synthesis on GPUs as Statistical Inference
Max M. Sun, Jueun Kwon, Todd Murphey
Coverage motion planning is essential to a wide range of robotic tasks. Unlike conventional motion planning problems, which reason over temporal sequences of states, coverage motio…