Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable
materials and usually follow a bioinspired design. Their high dexterity and safety make them …

The ocean environment has enormous uncertainty due to the influence of complex waves
and undercurrents. The human beings are limited in their abilities to detect and utilize …

We present a novel, fast differentiable simulator for soft-body learning and control
applications. Existing differentiable soft-body simulators can be classified into two categories …

Human characters with a broad range of natural looking and physically realistic behaviors
will enable the construction of compelling interactive experiences. In this paper, we develop …

The computational design of soft underwater swimmers is challenging because of the high
degrees of freedom in soft-body modeling. In this paper, we present a differentiable pipeline …

Underwater soft robots are challenging to model and control because of their high degrees
of freedom and their intricate coupling with water. In this letter, we present a method that …

Soft robots have become important members of the robot community with many potential
applications owing to their unique flexibility and security embedded at the material level. An …

We present a new algorithm that learns a parameterized family of motor skills from a single
motion clip. The motor skills are represented by a deep policy network, which produces a …

We present a method for differentiable simulation of soft articulated bodies. Our work
enables the integration of differentiable physical dynamics into gradient-based pipelines …

Abstract Liquid-crystal-elastomer (LCE) fiber actuators capable of reversible, large-scale,
programmable deformation in response to external stimuli have great potential in many …