69 citations · 261 across the 17 of their papers we have counts for
7 papers · 1 filter
Assemble Them All: Physics-Based Planning for Generalizable Assembly by Disassembly
Yunsheng Tian, Jie Xu, Yichen Li +5
Assembly planning is the core of automating product assembly, maintenance, and recycling for modern industrial manufacturing. Despite its importance and long history of research, p…
An Integrated Design Pipeline for Tactile Sensing Robotic Manipulators
Lara Zlokapa, Yiyue Luo, Jie Xu +4
Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend…
Evolution Gym: A Large-Scale Benchmark for Evolving Soft Robots
Jagdeep Singh Bhatia, Holly Jackson, Yunsheng Tian +2
Both the design and control of a robot play equally important roles in its task performance. However, while optimal control is well studied in the machine learning and robotics com…
Dynamic Modeling of Hand-Object Interactions via Tactile Sensing
Qiang Zhang, Yunzhu Li, Yiyue Luo +6
Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can u…
An End-to-End Differentiable Framework for Contact-Aware Robot Design
Jie Xu, Tao Chen, Lara Zlokapa +4
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are…
Multi-Objective Graph Heuristic Search for Terrestrial Robot Design
Jie Xu, Andrew Spielberg, Allan Zhao +2
We present methods for co-designing rigid robots over control and morphology (including discrete topology) over multiple objectives. Previous work has addressed problems in single-…