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Heng-Sheng Chang

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#machine learning Preprint Sep 2026

Diverse and Adaptable Arm Coordination for Octopus-Crawling via Diffusion-Based Uncertainty-Aware Optimization

A Diffusion-based Uncertainty-aware Optimization (DUO) algorithm that learns demonstration-free crawling controllers for a simulated, muscle-actuated CyberOctopus, which represents the first application of diffusion-based control to soft multi-arm robots in contact-rich simulations.

Seung Hyun Kim, Heng-Sheng Chang, Kimia Kazemi et al. · 1 citation

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