135 citations · 272 across the 18 of their papers we have counts for
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cs.RO2026
Demonstration Calibrated Port-Hamiltonian Retuning for Manipulation Policies
Yulong Yang, Fan Wu, Christine Allen-Blanchette +1
Diffusion and VLA policies for manipulation are often deployed through downstream impedance controllers. The stiffness and damping gains of these controllers affect task success, y…
cs.RO2021★ 6 cited
Extending Lagrangian and Hamiltonian Neural Networks with Differentiable Contact Models
Yaofeng Desmond Zhong, Biswadip Dey, Amit Chakraborty
The incorporation of appropriate inductive bias plays a critical role in learning dynamics from data. A growing body of work has been exploring ways to enforce energy conservation…