4 papers
Adaptive Wall-Following Control for Unmanned Ground Vehicles Using Spiking Neural Networks
Hengye Yang, Yanxiao Chen, Zexuan Fan +2
Unmanned ground vehicles operating in complex environments must adaptively adjust to modeling uncertainties and external disturbances to perform tasks such as wall following and ob…
Differentiable Contact Dynamics for Stable Object Placement Under Geometric Uncertainties
Linfeng Li, Gang Yang, Lin Shao +1
From serving a cup of coffee to positioning mechanical parts during assembly, stable object placement is a crucial skill for future robots. It becomes particularly challenging unde…
SoftMAC: Differentiable Soft Body Simulation with Forecast-based Contact Model and Two-way Coupling with Articulated Rigid Bodies and Clothes
Min Liu, Gang Yang, Siyuan Luo +1
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of so…
Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact
Gang Yang, Siyuan Luo, Lin Shao
We present Jade, a differentiable physics engine for articulated rigid bodies. Jade models contacts as the Linear Complementarity Problem (LCP). Compared to existing differentiable…