Cosimo Della Santina
収録論文 54本 ・ フィジカルAI/ロボット学習
ソフトロボティクス
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- SoRoMoX: 高速・微分可能・並列化可能なソフトロボットモデルソフトロボティクス2026/8/7
ソフトロボットの制御向けに、JAXベースで微分可能かつGPU並列実行可能なCosseratロッド理論に基づくモデリングフレームワークを開発し、従来比で最大234.6倍のスループット向上を実現した。
- From Digital to Physical Reservoir Computing: Co-Optimizing Soft Robotic Reservoirs via Dynamics Matching2026/8/1
- SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models2026/8/1
- A Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator2026/7/1
- Set-Supervised Diffusion Policy: Learning Action-Chunking Diffusion through Corrections2026/6/1
- Reconciling distributed compliance with high-performance control in continuum soft robotics2026/3/1
- Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing2026/3/1
- SENSE-STEP: Learning Sim-to-Real Locomotion for a Sensory-Enabled Soft Quadruped Robot2026/2/1
- Soft Swing-up: Benchmarking Model-Based Optimal Control for Rigid-Soft Underactuated Systems2026/2/1
- Infinite-Dimensional Closed-Loop Inverse Kinematics for Soft Robots via Neural Operators2026/2/1
- Symbolic Learning of Interpretable Reduced-Order Models for Jumping Quadruped Robots2025/8/1
- Learning to Move in Rhythm: Task-Conditioned Motion Policies with Orbital Stability Guarantees2025/7/1
- A Survey on Soft Robot Adaptability: Implementations, Applications, and Prospects2025/6/1
- Properties of Lyapunov Subcenter Manifolds in Conservative Mechanical Systems2025/5/1
- Soft yet Effective Robots via Holistic Co-Design2025/5/1
- Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions2025/5/1
- Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds2025/4/1
- Explosive Jumping with Rigid and Articulated Soft Quadrupeds via Example Guided Reinforcement Learning2025/3/1
- TamedPUMA: safe and stable imitation learning with geometric fabrics2025/3/1
- MUKCa: Accurate and Affordable Cobot Calibration Without External Measurement Devices2025/3/1
- From Action Labels to Sets: Rethinking Action Supervision for Imitation Learning from Corrective Feedback2025/2/1
- SpikingSoft: A Spiking Neuron Controller for Bio-inspired Locomotion with Soft Snake Robots2025/1/1
- 3D Printable Gradient Lattice Design for Multi-Stiffness Robotic Fingers2025/1/1
- Real-Time Generation of Near-Minimum-Energy Trajectories via Constraint-Informed Residual Learning2025/1/1
- Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control2024/11/1
- Mastering Contact-rich Tasks by Combining Soft and Rigid Robotics with Imitation Learning2024/10/1
- Scalable Task Planning via Large Language Models and Structured World Representations2024/9/1
- Input-to-State Stable Coupled Oscillator Networks for Closed-form Model-based Control in Latent Space2024/9/1
- ILeSiA: Interactive Learning of Robot Situational Awareness from Camera Input2024/9/1
- Design and Control of Modular Soft-Rigid Hybrid Manipulators with Self-Contact2024/8/1
- Generalizable Motion Policies through Keypoint Parameterization and Transportation Maps2024/4/1
- Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes2024/4/1
- Berry Twist: a Twisting-Tube Soft Robotic Gripper for Blackberry Harvesting2024/3/1
- Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots2024/2/1
- Controlling Deformable Objects with Non-negligible Dynamics: a Shape-Regulation Approach to End-Point Positioning2024/2/1
- Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside''2024/2/1
- Recursive Model-agnostic Inverse Dynamics of Serial Soft-Rigid Robots2024/2/1
- Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control2024/1/1
- Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design2024/1/1
- Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators2024/1/1
- Analytical Model and Experimental Testing of the SoftFoot: an Adaptive Robot Foot for Walking over Obstacles and Irregular Terrains2024/1/1
- Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots2023/11/1
- An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots2023/10/1
- PUMA: Deep Metric Imitation Learning for Stable Motion Primitives2023/10/1
- Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds2023/9/1
- Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft Robotics2023/6/1
- Physics-informed Neural Networks to Model and Control Robots: a Theoretical and Experimental Investigation2023/5/1
- Robotic Packaging Optimization with Reinforcement Learning2023/3/1
- Can Large Language Models design a Robot?2023/3/1
- Robotic Fabric Flattening with Wrinkle Direction Detection2023/3/1
- Proprioceptive Sensing of Soft Tentacles with Model Based Reconstruction for Controller Optimization2022/11/1
- Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC2022/11/1
- Model Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges2021/10/1
- Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots2018/6/1