5 papers · 1 filter
Robot Learning to Communicate through Projected Visual Abstractions
Danyang Yan, Boyuan Wang, Jiaxun Liu +1
Humans routinely communicate through abstractions of their bodies, including shadows, silhouettes, and reflections. Yet robots remain largely confined to expressing themselves thro…
RAFL: Generalizable Sim-to-Real of Soft Robots with Residual Acceleration Field Learning
Dong Heon Cho, Boyuan Chen
Differentiable simulators enable gradient-based optimization of soft robots over material parameters, control, and morphology, but accurately modeling real systems remains challeng…
The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics
Boxi Xia, Bokuan Li, Jacob Lee +2
We present the Duke Humanoid, an open-source 10-degrees-of-freedom humanoid, as an extensible platform for locomotion research. The design mimics human physiology, with symmetrical…
Text2Robot: Evolutionary Robot Design from Text Descriptions
Ryan P. Ringel, Zachary S. Charlick, Jiaxun Liu +2
Robot design has traditionally been costly and labor-intensive. Despite advancements in automated processes, it remains challenging to navigate a vast design space while producing…
SonicSense: Object Perception from In-Hand Acoustic Vibration
Jiaxun Liu, Boyuan Chen
We introduce SonicSense, a holistic design of hardware and software to enable rich robot object perception through in-hand acoustic vibration sensing. While previous studies have s…