Cover Image

Articulated-Body Dynamics Network: Dynamics-Grounded Prior for Robot Learning

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Shin, Sangwoo, Ren, Kunzhao, Xiong, Xiaobin, Hanna, Josiah P.
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
by: Kang, Jiarong, et al.
Published: (2026)

SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization
by: Wang, Hanwen, et al.
Published: (2026)

Efficient and Versatile Quadrupedal Skating: Optimal Co-design via Reinforcement Learning and Bayesian Optimization
by: Wang, Hanwen, et al.
Published: (2026)

Humanoid Robot Acrobatics Utilizing Complete Articulated Rigid Body Dynamics
by: Brantner, Gerald
Published: (2025)

Multi-Robot Collaboration through Reinforcement Learning and Abstract Simulation
by: Labiosa, Adam, et al.
Published: (2025)

Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation
by: Kang, Jiarong, et al.
Published: (2024)

Abstract Sim2Real through Approximate Information States
by: Deng, Yunfu, et al.
Published: (2026)

Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds
by: Vezzi, Francecso, et al.
Published: (2023)

Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE
by: Kang, Jiarong, et al.
Published: (2024)

STRIDE: An Open-Source, Low-Cost, and Versatile Bipedal Robot Platform for Research and Education
by: Huang, Yuhao, et al.
Published: (2024)

Batched Differentiable Rigid Body Dynamics in PyTorch for GPU-Accelerated Robot Learning
by: Wang, Yue, et al.
Published: (2026)

Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion
by: Zeng, Yicheng, et al.
Published: (2024)

Learning-based Nonlinear Model Predictive Control of Articulated Soft Robots using Recurrent Neural Networks
by: Schäfke, Hendrik, et al.
Published: (2024)

Whole-Body Safe Control of Robotic Systems with Koopman Neural Dynamics
by: Jung, Sebin, et al.
Published: (2026)

Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects
by: Zhao, Zihang, et al.
Published: (2024)

Zero-Shot Parameter Learning of Robot Dynamics Using Bayesian Statistics and Prior Knowledge
by: Reiners, Carsten, et al.
Published: (2025)

RoboGround: Robotic Manipulation with Grounded Vision-Language Priors
by: Huang, Haifeng, et al.
Published: (2025)

JODA: Composable Joint Dynamics for Articulated Objects
by: Gao, Tianhong, et al.
Published: (2026)

Modeling Elastic-Body Dynamics of Robotic Fish Using a Variational Framework
by: Chen, Zhiheng, et al.
Published: (2025)

An Investigation of the Factors Influencing Evolutionary Dynamics in the Joint Evolution of Robot Body and Control
by: Goff, Léni K. Le, et al.
Published: (2024)

Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization
by: Cheng, Denglin, et al.
Published: (2025)

Learning-Based Dynamics Modeling and Robust Control for Tendon-Driven Continuum Robots
by: Zou, Ziqing, et al.
Published: (2026)

Guided Data Augmentation for Offline Reinforcement Learning and Imitation Learning
by: Corrado, Nicholas E., et al.
Published: (2023)

Iterative Learning Control for Fast and Accurate Position Tracking with an Articulated Soft Robotic Arm
by: Hofer, Matthias, et al.
Published: (2019)

Dynamic Whole-Body Dancing with Humanoid Robots -- A Model-Based Control Approach
by: Zhang, Shibowen, et al.
Published: (2026)

A Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots
by: Li, Bolin, et al.
Published: (2025)

FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection
by: Zhang, Harry, et al.
Published: (2023)

Autonomous Robotic Radio Source Localization via a Novel Gaussian Mixture Filtering Approach
by: Kim, Sukkeun, et al.
Published: (2025)

SPONGE: Open-Source Designs of Modular Articulated Soft Robots
by: Habich, Tim-Lukas, et al.
Published: (2024)

Multi-Floor Exploration for Ground Robots via an Incremental Reachable Graph and Structural Priors
by: Zhu, Zhiwen, et al.
Published: (2026)

Learning Action Manifold with Multi-view Latent Priors for Robotic Manipulation
by: Xiao, Junjin, et al.
Published: (2026)

Hoi! - A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation
by: Engelbracht, Tim, et al.
Published: (2025)

Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion
by: Kamimura, Tomoya, et al.
Published: (2026)

Dynamic Fairness Perceptions in Human-Robot Interaction
by: Claure, Houston, et al.
Published: (2024)

Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics
by: Ahn, Junewhee, et al.
Published: (2024)

Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation
by: Mittal, Mayank, et al.
Published: (2021)

Learning-based Dynamic Robot-to-Human Handover
by: Kim, Hyeonseong, et al.
Published: (2025)

Learning Highly Dynamic Behaviors for Quadrupedal Robots
by: Zhang, Chong, et al.
Published: (2024)

Reinforcement Learning via Auxiliary Task Distillation
by: Harish, Abhinav Narayan, et al.
Published: (2024)

A Unified Calibration Framework for High-Accuracy Articulated Robot Kinematics
by: Tobuschat, Philip, et al.
Published: (2026)