5 papers · 1 filter
Computational Design of a Low-Visibility UAV Using a Human-Aligned Perceptual Metric
Jingxian Wang, Chen Yu, David Matthews +3
We introduce Phantom Twist, a type of single-propeller UAV designed to achieve low visibility through high-speed spinning and the exploitation of motion blur. We develop a two-stag…
JODA: Composable Joint Dynamics for Articulated Objects
Tianhong Gao, Cheng Yu, Yinghao Xu +1
Articulated objects used in simulation and embodied AI are typically specified by geometry and kinematic structure, but lack the fine-grained dynamical effects that govern realisti…
Agile legged locomotion in reconfigurable modular robots
Chen Yu, David Matthews, Jingxian Wang +4
Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to f…
State Estimation Transformers for Agile Legged Locomotion
Chen Yu, Yichu Yang, Tianlin Liu +3
We propose a state estimation method that can accurately predict the robot's privileged states to push the limits of quadruped robots in executing advanced skills such as jumping i…
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…