arXiv:2607. 19060v1 Announce Type: cross Abstract: Fast prediction of the response of adhesive soft viscoelastic contacts represents a current challenge in soft robotics and for gripping and manipulation tasks.
arXiv:2608. 03103v1 Announce Type: cross Abstract: Diffusion policies have shown strong performance in learning complex, multi-modal behaviors for robotic manipulation.
arXiv:2609.07294v1 Announce Type: new Abstract: Data-driven constitutive models for path-dependent plasticity are commonly formulated using nonlinear recurrent neural networks, whose sequential state...
arXiv:2511. 06667v2 Announce Type: replace-cross Abstract: With the explosive growth of rigid-body simulators, policy learning in simulation has become the de facto standard for most rigid morphologies.
arXiv:2605. 13548v3 Announce Type: replace-cross Abstract: Existing robotic foundation models, while powerful, are predicated on an implicit assumption of temporal homogeneity: treating all actions as equally informative during optimization.
The paper introduces a data‑driven constitutive modeling framework that treats a deforming material as a functional mapping from its entire strain history to the corresponding stress response. By training on full loading paths as function‑to‑function mappings, the model predicts complete stress trajectories in a single parallel forward pass, using causal attention to enforce temporal path dependence and spectral convolutions for discretization‑invariant representations. The approach is validated on multidimensional, rate‑independent material models, accurately capturing nonlinear plasticity and ductile damage while achieving resolution invariance and excellent parallel efficiency.
The paper presents a data‑driven framework that predicts long‑term fluid–structure interaction dynamics for a flexible plate undergoing flow‑induced vibration. It uses a stiffness‑conditioned neural evolution operator that jointly models the Eulerian flow field and the Lagrangian structural state, employing a hybrid CNN‑Transformer architecture with bidirectional cross‑attention. The operator accurately captures three stiffness‑dependent response regimes, preserves key flow and structural features over 1000‑step rollouts, and can interpolate to unseen stiffness values, while a differentiable aerodynamic‑force module based on derivative‑moment transformation enables accurate lift and drag reconstruction.
arXiv:2608. 13215v1 Announce Type: new Abstract: Forecasting the long-horizon evolution of mechanical systems from position-only observations is a pivotal yet difficult task, as hidden velocities and trajectory-specific physical properties must be inferred simultaneously.
The paper introduces a data‑driven constitutive modeling framework that treats a material as a functional mapping from its entire strain history to stress response. It uses neural operators with causal attention and spectral convolutions to predict full stress trajectories in a single parallel forward pass, enforcing temporal path dependence without relying on internal state variables. The method is validated on multidimensional, rate‑independent plasticity and ductile damage models, achieving accurate, resolution‑invariant predictions with excellent parallel efficiency.
The paper introduces a data‑driven framework for modeling the hyperelastic and viscoelastic behavior of digital materials made by multi‑material 3D printing. It extends a classical constitutive formulation by Bergström and Boyce, preserving multiplicative kinematics and invariant‑based strain‑energy functions while learning equilibrium and nonequilibrium parameters from multi‑rate uniaxial compression data across different compositions. The approach can either predict closed‑form model parameters as functions of composition or construct polyconvex strain‑energy functions using neural ordinary differential equations, ensuring thermodynamic consistency and capturing rate‑dependent stiffness and hysteresis.
Agile-WAM is a tactile World Action Model that jointly predicts future visual and tactile states and robot actions for contact‑rich manipulation. It encodes visual and tactile observations into a shared latent space and uses a vision‑tactile‑to‑action flow‑matching process to generate action chunks and future latents. The model introduces multi‑horizon multimodal prediction, leveraging the different timescales of vision and touch, and achieves a 29.4 % improvement in real‑world success rates with 11.9 ms inference latency across nine simulated and five real‑world tasks.
The paper introduces a Frequency-aware Decomposition Network (FDN) that estimates vibration-rich wrench signals in sensorless robotic contact tasks. FDN splits the wrench horizon into low-frequency trends and high-frequency residuals, using pointwise regression for the former and a learned conditional distribution for the latter. Experiments on a 6‑DoF hydraulic manipulator show that FDN reduces high‑frequency amplitude error by up to 47% compared to baselines while maintaining low‑frequency accuracy, and can perform 1,000 ms multi‑step‑ahead estimation in 11 ms on a single CPU thread.
This study explores temporal neural networks for estimating the end‑effector position of an aerial continuum manipulator (ACM) affected by aerodynamic disturbances from a UAV. An experimental dataset covering stationary and free‑hovering conditions across various robot configurations and altitudes was used to evaluate strain‑parameterized kinematic models and to benchmark a closed‑form continuous‑time (CfC) neural network against an MLP and a GRU. The CfC network achieved a 22 mm RMSE, outperforming the MLP (36 mm) and GRU (28 mm) by 39.5 % and 20.6 %, respectively, demonstrating the advantage of continuous‑time learning for this task.