Author

Stelian Coros

3 papers indexed here

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Aug 2026

Taking a Moment to Characterize the Bending Response of Thin Sheet Materials

Structured sheet materials such as 3D‐printed rod networks, multi‐material thin shells, and multi‐layer laminates exhibit diverse mechanical behaviors. To avoid the computational burden of native‐scale simulations, data‐driven homogenization offers a promising alternative. This process involves probing a representati...

Pei-Yuan Xie, Juan Sebastian Montes Maestre, Stelian Coros et al. · Computer graphics forum (Pri... · 0 citations

Preprint Sep 2026

KINO: A Keyframe Interface for VLM Planning and Whole-Body Control in Humanoid Loco-Manipulation

Humanoid loco-manipulation requires robots to interpret task instructions and scene semantics while executing coordinated whole-body motions. We propose a hierarchical framework that uses motion keyframes as an intermediate representation between Vision-Language Model (VLM) planning and Reinforcement Learning (RL) cont...

Si-Tong Chen, Fatemeh Zargarbashi, Jin Cheng et al. · 0 citations

Preprint Sep 2026

Bundled Contact Gradients: Stabilizing Differentiable Simulation for Deployable Dynamic Tasks

Differentiable simulation provides analytic gradients of robot dynamics, enabling fast and sample-efficient first-order policy optimization. However, obtaining smooth and informative gradients through rigid-body contact typically requires softened contact models, often at the expense of physical fidelity and thereby li...

Dyuman Aditya, Jin Cheng, Clemens Schwarke et al. · 0 citations