3 papers indexed
Guanxiong Chen, Qianjun Xia, Jiawei Peng, Heng Zhang, Bole Ma, Justin Qian, et al.
Real-to-sim conversion for robotic interaction with objects remains labor-intensive because it requires more than visual reconstruction: a streamlined real2sim process must recover scene geometries and object states, infer physical parameters, and assemble actors, objects, camera…
Heng Zhang, Gehan Zheng, Kaifeng Zhang, Jay Song, Shivansh Patel, Sonny Hu, et al.
Digital twins enable robots to anticipate and adapt to physical interactions, but existing models struggle with elastoplastic articulated objects (EAOs) that exhibit nonlinear elasticity, plastic yielding, and damage accumulation. We present BoxTwin, an interactive digital twin f…
Zhiyang Dou, John U. Onyemelukwe, Hangxing Zhang, Heng Zhang, Minghao Guo, Yunsheng Tian, et al.
Differentiable simulators have advanced policy learning and model-based control across robotic tasks. Yet actuator dynamics remain underexplored and can be a major source of sim-to-real error, particularly on low-cost platforms, where the linear current-to-joint-torque approximat…