3 papers
cs.RO2025
Differentiable Contact Dynamics for Stable Object Placement Under Geometric Uncertainties
Linfeng Li, Gang Yang, Lin Shao +1
From serving a cup of coffee to positioning mechanical parts during assembly, stable object placement is a crucial skill for future robots. It becomes particularly challenging unde…
cs.RO2025
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…
eess.SY2025
Adaptive Wall-Following Control for Unmanned Ground Vehicles Using Spiking Neural Networks
Hengye Yang, Yanxiao Chen, Zexuan Fan +2
Unmanned ground vehicles operating in complex environments must adaptively adjust to modeling uncertainties and external disturbances to perform tasks such as wall following and ob…