5 papers · 1 filter
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…
Sim-to-Real of Soft Robots with Learned Residual Physics
Junpeng Gao, Mike Yan Michelis, Andrew Spielberg +1
Accurately modeling soft robots in simulation is computationally expensive and commonly falls short of representing the real world. This well-known discrepancy, known as the sim-to…