5 papers
GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives
Muyuan Ma, Yi Zhang, Yang Yang +12
Reconfigurable robots can change their contact geometry when a fixed body cannot negotiate an obstacle. A variable-geometry truss (VGT) distributes this shape change through a load…
MuJoCable: Reduced-Order Surface-Routed Cable Transmission for Tendon-Driven Robots
Yi Zhang, Qi Shao, Yicong Lin +3
Tendon transmissions reduce distal inertia and add compliance, yet routing, slack, and friction govern motion and force transfer. Mainstream rigid-body robotics simulators such as…
Understanding Evolution Strategies for LLM Reasoning: Broader Reasoning Coverage than GRPO
Yunpeng Ba, Zhi Zheng, Yue Xie +7
Evolution Strategies (ES) have recently emerged as a memory-efficient post-training paradigm for LLM reasoning. However, the optimization behavior of ES remains understudied, makin…
Co-design is powerful and not free
Yi Zhang, Yue Xie, Tao Sun +1
Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that emb…
The Morphology-Control Trade-Off: Insights into Soft Robotic Efficiency
Yue Xie, Kai-fung Chu, Xing Wang +1
Soft robotics holds transformative potential for enabling adaptive and adaptable systems in dynamic environments. However, the interplay between morphological and control complexit…