3 papers
cs.RO2026
Learning the Right Abstraction: Neural Reduced Dynamics for Complex Robot Control
Harry Zhang, Dan Negrut
High-fidelity embodied AI simulators provide realistic evaluation of complex robotic systems, but their computational cost limits their direct use for large-scale reinforcement lea…
cs.CE2026
A Total Lagrangian Finite Element Framework for Multibody Dynamics: Part I -- Formulation
Zhenhao Zhou, Ganesh Arivoli, Dan Negrut
We present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-…
cs.RO2026
Co-Design of Rover Wheels and Control using Bayesian Optimization and Rover-Terrain Simulations
Huzaifa Mustafa Unjhawala, Khizar Shaikh, Luning Bakke +2
While simulation is vital for optimizing robotic systems, the cost of modeling deformable terrain has long limited its use in full-vehicle studies of off-road autonomous mobility.…