From the 1 of 13 linked papers with an AI index.
13 papers
ODEWorld: A Continuous Predictive Architecture via Physical-Time Flow
Dongxiu Liu, Haoyi Niu, Peng Cheng +5
The paper presents ODEWorld, a continuous-time latent world model that learns a physical-time flow using ODEs to predict future states at arbitrary temporal resolutions, improving…
Embedding Hybrid Systems into Continuous Latent Vector Fields
Sangli Teng, Hang Liu, Koushil Sreenath
This work proves that an -dimensional hybrid system can be embedded into an -dimensional Euclidean space equipped with a continuous vector field on its embedded image wheneve…
LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies
Sangli Teng, Ruiqi Zhang, Tzu-Yuan Lin +5
Designing dynamically feasible trajectories for rigid bodies is a fundamental problem in robotics. While direct methods are widely used, the existing constrained optimizers typical…
Stein Variational Ergodic Surface Coverage with SE(3) Constraints
Jiayun Li, Yufeng Jin, Sangli Teng +2
Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic tra…
A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
I-Chia Chang, Xinyan Huang, Tzu-Yuan Lin +5
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting…
Ego-Vision World Model for Humanoid Contact Planning
Hang Liu, Yuman Gao, Sangli Teng +5
Enabling humanoid robots to exploit physical contact, rather than simply avoid collisions, is crucial for autonomy in unstructured environments. Traditional optimization-based plan…