Tendon transmissions reduce distal inertia and add compliance, yet routing, slack, and friction govern motion and force transfer. Mainstream rigid-body robotics simulators such as MuJoCo do not jointly resolve moving noncircular contact, unilateral tension, and segment friction. We present MuJoCable, which adds a reduc...
Yi Zhang, Qi-Bing Shao, Yi-Cong Lin et al.· 0 citations
AIM-ZO is proposed, a ZO fine-tuning method based on Activation-Informed Subspace Maintenance that uses forward activations as local directional information and continuously integrates them into a broad, evolving subspace over training.
Yue Xie, Zhi Zheng, Yun-Peng Ba et al.· 0 citations
GeoTrussRover combines an electrically actuated VGT, a wheeled base, and contact-semantic morphology planning and control, which stores task coordination in a hyper-redundant, load-bearing morphology and reuses it during locomotion.
Mu-Yuan Ma, Yi Zhang, Yang Yang et al.· 0 citations
These findings position ES as a distinct reasoning post-training paradigm rather than a less effective, memory-efficient alternative to GRPO, and study how hyperparameter design affects the effectiveness of ES, demonstrating that ES requires a smaller population size in a larger LLM.
Yunpeng Ba, Zhi Zheng, Yue Xie et al.· 0 citations
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