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06/15/2023
Neural Fields with Hard Constraints of Arbitrary Differential Order
While deep learning techniques have become extremely popular for solving...
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06/05/2023
Efficient automatic design of robots
Robots are notoriously difficult to design because of complex interdepen...
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01/29/2023
Zero-Shot Transfer of Haptics-Based Object Insertion Policies
Humans naturally exploit haptic feedback during contact-rich tasks like ...
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01/29/2022
Sim-to-Real for Soft Robots using Differentiable FEM: Recipes for Meshing, Damping, and Actuation
An accurate, physically-based, and differentiable model of soft robots c...
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07/13/2021
Multi-Objective Graph Heuristic Search for Terrestrial Robot Design
We present methods for co-designing rigid robots over control and morpho...
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04/02/2021
DiffAqua: A Differentiable Computational Design Pipeline for Soft Underwater Swimmers with Shape Interpolation
The computational design of soft underwater swimmers is challenging beca...
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01/15/2021
DiffPD: Differentiable Projective Dynamics
We present a novel, fast differentiable simulator for soft-body learning...
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10/02/2018