6 citations · 18 across the 16 of their papers we have counts for
16 papers
Model Predictive Control of Tensegrity Robots via Contact-Aware Graph Neural Dynamics Model
Nelson Chen, Patrick Meng, Charles Tang +5
Tensegrity robots offer lightweight, compliant mobility over challenging terrain but remain difficult to model and control due to complex contact-rich dynamics and partial observab…
CableRobotGraphSim: A Graph Neural Network for Modeling Partially Observable Cable-Driven Robot Dynamics
Nelson Chen, William R. Johnson, Rebecca Kramer-Bottiglio +2
General-purpose simulators have accelerated the development of robots. Traditional simulators based on first-principles, however, typically require full-state observability or depe…
An Open-Source, Reproducible Tensegrity Robot that can Navigate Among Obstacles
William R. Johnson, Patrick Meng, Nelson Chen +5
Tensegrity robots, composed of rigid struts and elastic tendons, provide impact resistance, low mass, and adaptability to unstructured terrain. Their compliance and complex, couple…
Learning Differentiable Tensegrity Dynamics using Graph Neural Networks
Nelson Chen, Kun Wang, William R. Johnson +3
Tensegrity robots are composed of rigid struts and flexible cables. They constitute an emerging class of hybrid rigid-soft robotic systems and are promising systems for a wide arra…
A Closest Point Method for PDEs on Manifolds with Interior Boundary Conditions for Geometry Processing
Nathan King, Haozhe Su, Mridul Aanjaneya +2
Many geometry processing techniques require the solution of partial differential equations (PDEs) on manifolds embedded in or , such as curves or surfa…
A Recurrent Differentiable Engine for Modeling Tensegrity Robots Trainable with Low-Frequency Data
Kun Wang, Mridul Aanjaneya, Kostas Bekris
Tensegrity robots, composed of rigid rods and flexible cables, are difficult to accurately model and control given the presence of complex dynamics and high number of DoFs. Differe…
RLIBM-PROG: Progressive Polynomial Approximations for Fast Correctly Rounded Math Libraries
Mridul Aanjaneya, Jay P. Lim, Santosh Nagarakatte
This paper presents a novel method for generating a single polynomial approximation that produces correctly rounded results for all inputs of an elementary function for multiple re…
A-ULMPM: An Arbitrary Updated Lagrangian Material Point Method for Efficient Simulation of Solids and Fluids
Haozhe Su, Tao Xue, Chengguizi Han +1
We present an arbitrary updated Lagrangian Material Point Method (A-ULMPM) to alleviate issues, such as the cell-crossing instability and numerical fracture, that plague state of t…
Spring-Rod System Identification via Differentiable Physics Engine
Kun Wang, Mridul Aanjaneya, Kostas Bekris
We propose a novel differentiable physics engine for system identification of complex spring-rod assemblies. Unlike black-box data-driven methods for learning the evolution of a dy…
Sim2Sim Evaluation of a Novel Data-Efficient Differentiable Physics Engine for Tensegrity Robots
Kun Wang, Mridul Aanjaneya, Kostas Bekris
Learning policies in simulation is promising for reducing human effort when training robot controllers. This is especially true for soft robots that are more adaptive and safe but…
Model Identification and Control of a Low-Cost Wheeled Mobile Robot Using Differentiable Physics
Yanshi Luo, Abdeslam Boularias, Mridul Aanjaneya
We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our prop…
A Novel Approach to Generate Correctly Rounded Math Libraries for New Floating Point Representations
Jay P. Lim, Mridul Aanjaneya, John Gustafson +1
Given the importance of floating-point~(FP) performance in numerous domains, several new variants of FP and its alternatives have been proposed (e.g., Bfloat16, TensorFloat32, and…
A First Principles Approach for Data-Efficient System Identification of Spring-Rod Systems via Differentiable Physics Engines
Kun Wang, Mridul Aanjaneya, Kostas Bekris
We propose a novel differentiable physics engine for system identification of complex spring-rod assemblies. Unlike black-box data-driven methods for learning the evolution of a dy…
Triangulating the Real Projective Plane
Mridul Aanjaneya, Monique Teillaud
We consider the problem of computing a triangulation of the real projective plane P2, given a finite point set S={p1, p2,..., pn} as input. We prove that a triangulation of P2 alwa…
Faultfree Tromino Tilings of Rectangles
Mridul Aanjaneya, Sudebkumar Prasant Pal
In this paper we consider faultfree tromino tilings of rectangles and characterize rectangles that admit such tilings. We introduce the notion of {\it crossing numbers} for tilings…
Tromino tilings of Domino-Deficient Rectangles
Mridul Aanjaneya
We consider tromino tilings of domino-deficient rectangles, where and , and characterize all cases of domino removal that admit such tilings, there…