Related papers: Complementary Dynamics
Understanding causes and effects in mechanical systems is an essential component of reasoning in the physical world. This work poses a new problem of counterfactual learning of object mechanics from visual input. We develop the CoPhy…
The convergence of cross-modal adversarial learning and physics-driven methods represents a cutting-edge direction for tackling challenges in complex multi-modal tasks and scientific computing. This review focuses on systematically…
This article extends the capabilities of the harmonic potential field approach to planning to cover both the kinematic and dynamic aspects of a robot motion. The suggested approach converts the gradient guidance field from a harmonic…
Efficiently modeling spatio-temporal relations of objects is a key challenge in visual object tracking (VOT). Existing methods track by appearance-based similarity or long-term relation modeling, resulting in rich temporal contexts between…
We present simulations of congested traffic in circular and open systems with a non-local, gas-kinetic-based traffic model and a novel car-following model. The model parameters are all intuitive and can be easily calibrated. Micro- and…
Legged-aerial multimodal robots can make the most of both legged and aerial systems. In this paper, we propose a control framework that bypasses heavy onboard computers by using an optimization-free Explicit Reference Governor that…
Character animation aims to generate lifelike videos by transferring motion dynamics from a driving video to a reference image. Recent strides in generative models have paved the way for high-fidelity character animation. In this work, we…
Legged robots are becoming increasingly powerful and popular in recent years for their potential to bring the mobility of autonomous agents to the next level. This work presents a deep reinforcement learning approach that learns a robust…
We introduce PhysMotion, a novel framework that leverages principled physics-based simulations to guide intermediate 3D representations generated from a single image and input conditions (e.g., applied force and torque), producing…
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact region is a planar non-convex contact patch. Such methods are useful in planning and…
Nature suggests that exploiting the elasticities and natural dynamics of robotic systems could increase their locomotion efficiency. Prior work on elastic snake robots supports this hypothesis, but has not fully exploited the nonlinear…
Pneumatic artificial muscles (PAMs) enable compliant actuation for soft wearable, assistive, and interactive robots. When arranged antagonistically, PAMs can provide variable impedance through co-contraction but exhibit coupled, nonlinear,…
In this work, we present DreamDance, a novel method for animating human images using only skeleton pose sequences as conditional inputs. Existing approaches struggle with generating coherent, high-quality content in an efficient and…
Combining manipulation with the mobility of legged robots is essential for a wide range of robotic applications. However, integrating an arm with a mobile base significantly increases the system's complexity, making precise end-effector…
Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that symmetry can instead be leveraged at the level of dynamic…
This paper proposes a novel alternative to existing sim-to-real methods for training control policies with simulated experiences. Unlike prior methods that typically rely on domain randomization over a fixed finite set of parameters, the…
Parallel kinematic manipulators (PKM) are characterized by closed kinematic loops, due to the parallel arrangement of limbs but also due to the existence of kinematic loops within the limbs. Moreover, many PKM are built with limbs…
When explaining to a lay audience the magnitude of forces or accelerations imparted to vehicles or experienced by vehicle occupants during a motor vehicle collision, it is often helpful to recast the critical results in terms of other…
Long-horizon, high-dynamic motion tracking on humanoids remains brittle because absolute joint commands cannot compensate model-plant mismatch, leading to error accumulation. We propose RobotDancing, a simple, scalable framework that…
In topology optimization of compliant mechanisms, the specific placement of boundary conditions strongly affects the resulting material distribution and performance of the design. At the same time, the most effective locations of the loads…