3 papers
cs.RO2026
Agile asymmetric multi-legged locomotion: contact planning via geometric mechanics and spin model duality
Jackson Habala, Gabriel B. Margolis, Tianyu Wang +8
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance.…
cs.LG2023★ 5 cited
GenPhys: From Physical Processes to Generative Models
Ziming Liu, Di Luo, Yilun Xu +2
Since diffusion models (DM) and the more recent Poisson flow generative models (PFGM) are inspired by physical processes, it is reasonable to ask: Can physical processes offer addi…
cs.RO2023
Geometry of contact: contact planning for multi-legged robots via spin models duality
Baxi Chong, Di Luo, Tianyu Wang +5
Contact planning is crucial in locomoting systems.Specifically, appropriate contact planning can enable versatile behaviors (e.g., sidewinding in limbless locomotors) and facilitat…