Author

Octi Zhang

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Preprint Oct 2026

FlashNeRD: Performance-First Contact-Rich Neural Robot Dynamics

Compared with analytical physics, learned dynamics models promise robot simulation that is faster, inherently differentiable, and easily adaptable to real data. Neural Robot Dynamics (NeRD) pursues this by keeping collision detection analytical and replacing a simulator's numerical dynamics for the robot with a learned...

Mohammadmehdi Ataei, M. A. Nabian, Jie Xu et al. · 0 citations

#machine learning Preprint Oct 2026

A Balanced Data Diet: Addressing the Exploration Bottleneck in Mega-Scale RL for Robot Control

General-purpose robots must perform a wide range of tasks from agile locomotion to dexterous manipulation. While sim-to-real reinforcement learning (RL) has proven to be a useful tool for this goal, current RL pipelines depend on engineering-heavy, per-task structural priors such as shaped rewards and demonstrations. R...

Octi Zhang, Mateo Guaman Castro, Patrick Yin et al. · 0 citations