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cs.RO2025
Differentiable Skill Optimisation for Powder Manipulation in Laboratory Automation
Minglun Wei, Xintong Yang, Yu-Kun Lai +1
Robotic automation is accelerating scientific discovery by reducing manual effort in laboratory workflows. However, precise manipulation of powders remains challenging, particularl…
cs.RO2025
DDBot: Differentiable Physics-based Digging Robot for Unknown Granular Materials
Xintong Yang, Minglun Wei, Yu-Kun Lai +1
Automating the manipulation of granular materials poses significant challenges due to complex contact dynamics, unpredictable material properties, and intricate system states. Exis…
cs.RO2024
Differentiable Physics-based System Identification for Robotic Manipulation of Elastoplastic Materials
Xintong Yang, Ze Ji, Yu-Kun Lai
Robotic manipulation of volumetric elastoplastic deformable materials, from foods such as dough to construction materials like clay, is in its infancy, largely due to the difficult…