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cs.RO2026
Robot Learning to Communicate through Projected Visual Abstractions
Danyang Yan, Boyuan Wang, Jiaxun Liu +1
Humans routinely communicate through abstractions of their bodies, including shadows, silhouettes, and reflections. Yet robots remain largely confined to expressing themselves thro…
cs.RO2026
RAFL: Generalizable Sim-to-Real of Soft Robots with Residual Acceleration Field Learning
Dong Heon Cho, Boyuan Chen
Differentiable simulators enable gradient-based optimization of soft robots over material parameters, control, and morphology, but accurately modeling real systems remains challeng…
cs.RO2024
The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics
Boxi Xia, Bokuan Li, Jacob Lee +2
We present the Duke Humanoid, an open-source 10-degrees-of-freedom humanoid, as an extensible platform for locomotion research. The design mimics human physiology, with symmetrical…