5 papers
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…
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…
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…