3 papers
cs.RO2026
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…
cs.RO2026
Huddle: Parallel Shape Assembly using Decentralized, Minimalistic Robots
Khai Yi Chin, Tingwei Meng, Zhe Chen +2
We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots. By relying on local interactions, the algorithm ensures there are no unreachable…
cs.RO2024
Learning Object Properties Using Robot Proprioception via Differentiable Robot-Object Interaction
Peter Yichen Chen, Chao Liu, Pingchuan Ma +5
Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object pro…