1 citations · 1 across the 2 of their papers we have counts for
3 papers
NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception
Zhiyang Dou, John U. Onyemelukwe, Hangxing Zhang +9
Differentiable simulators have advanced policy learning and model-based control across robotic tasks. Yet actuator dynamics remain underexplored and can be a major source of sim-to…
ZeroShotOpt: Towards Zero-Shot Pretrained Models for Efficient Black-Box Optimization
Jamison Meindl, Yunsheng Tian, Tony Cui +6
Global optimization of expensive, derivative-free black-box functions requires extreme sample efficiency. While Bayesian optimization (BO) is the current state-of-the-art, its perf…
Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning
Yunsheng Tian, Joshua Jacob, Yijiang Huang +10
Multi-part assembly poses significant challenges for robots to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present Fabrica, a…