5 papers
Learning, Solving and Optimizing PDEs with TensorGalerkin: an efficient high-performance Galerkin assembly algorithm
Shizheng Wen, Mingyuan Chi, Tianwei Yu +5
We present a unified algorithmic framework for the numerical solution, constrained optimization, and physics-informed learning of PDEs with a variational structure. Our framework i…
Swim2Real: VLM-Guided System Identification for Sim-to-Real Transfer
Kevin Qiu, Kyle Walker, Mike Y. Michelis +2
We present Swim2Real, a pipeline that calibrates a 16-parameter robotic fish simulator from swimming videos using vision-language model (VLM) feedback, requiring no hand-designed s…
A Unified Low-Dimensional Design Embedding for Joint Optimization of Shape, Material, and Actuation in Soft Robots
Vittorio Candiello, Manuel Mekkattu, Mike Y. Michelis +1
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspect…
Simple Models, Real Swimming: Digital Twins for Tendon-Driven Underwater Robots
Mike Y. Michelis, Nana Obayashi, Josie Hughes +1
Mimicking the graceful motion of swimming animals remains a core challenge in soft robotics due to the complexity of fluid-structure interaction and the difficulty of controlling s…
SORS: A Modular, High-Fidelity Simulator for Soft Robots
Manuel Mekkattu, Mike Y. Michelis, Robert K. Katzschmann
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, b…