DeformX integrates Cosserat rod physics with Isaac Sim for DLO simulation, enabling data generation that improves real-image segmentation by 10.2% mAP@75 and a rope policy transferred to a UR5e with 6.6 cm error.
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A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.
LEAP enables real-time proprioceptive adaptation to unseen damage in a 6DoF soft wrist using HSA actuators by combining latent damage representations with a robust ensemble method, with conditions identified for linear rather than exponential sample complexity.
OpenPRC provides a schema-driven framework with five modules for GPU physics simulation, experimental vision ingestion, reservoir learning, information analysis, and physics-aware optimization to enable consistent PRC evaluation from simulations and real experiments.
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DeformX: A Versatile Co-Simulation Framework for Deformable Linear Objects
DeformX integrates Cosserat rod physics with Isaac Sim for DLO simulation, enabling data generation that improves real-image segmentation by 10.2% mAP@75 and a rope policy transferred to a UR5e with 6.6 cm error.
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Damage Adaptation in Seconds for Architected Materials
LEAP enables real-time proprioceptive adaptation to unseen damage in a 6DoF soft wrist using HSA actuators by combining latent damage representations with a robust ensemble method, with conditions identified for linear rather than exponential sample complexity.
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OpenPRC: A Unified Open-Source Framework for Physics-to-Task Evaluation in Physical Reservoir Computing
OpenPRC provides a schema-driven framework with five modules for GPU physics simulation, experimental vision ingestion, reservoir learning, information analysis, and physics-aware optimization to enable consistent PRC evaluation from simulations and real experiments.