{"id":"https://openalex.org/W4413917435","doi":"https://doi.org/10.1109/icra55743.2025.11128113","title":"Generative-AI-Driven Jumping Robot Design Using Diffusion Models","display_name":"Generative-AI-Driven Jumping Robot Design Using Diffusion Models","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917435","doi":"https://doi.org/10.1109/icra55743.2025.11128113"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073228214","display_name":"Byungchul Kim","orcid":"https://orcid.org/0000-0002-4659-3310"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Byungchul Kim","raw_affiliation_strings":["Massachusetts Institute of Technology,Distributed Robotics Laboratory, Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Distributed Robotics Laboratory, Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017563787","display_name":"Tsun-Hsuan Wang","orcid":"https://orcid.org/0000-0002-7259-5686"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tsun-Hsuan Wang","raw_affiliation_strings":["Massachusetts Institute of Technology,Distributed Robotics Laboratory, Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Distributed Robotics Laboratory, Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109457978","display_name":"Daniela Rus","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Massachusetts Institute of Technology,Distributed Robotics Laboratory, Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Distributed Robotics Laboratory, Computer Science and Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6267","last_page":"6274"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9861999750137329,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9861999750137329,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12162","display_name":"Cellular Automata and Applications","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9753000140190125,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6818045973777771},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6543886661529541},{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.6433730125427246},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.5467100143432617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.50309818983078},{"id":"https://openalex.org/keywords/generative-design","display_name":"Generative Design","score":0.4922763407230377},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.4706380069255829},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33346909284591675},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1834840178489685}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6818045973777771},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6543886661529541},{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.6433730125427246},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.5467100143432617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.50309818983078},{"id":"https://openalex.org/C184408114","wikidata":"https://www.wikidata.org/wiki/Q1502022","display_name":"Generative Design","level":3,"score":0.4922763407230377},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.4706380069255829},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33346909284591675},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1834840178489685},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1803936640","https://openalex.org/W1995093229","https://openalex.org/W2090252028","https://openalex.org/W2091356137","https://openalex.org/W2118935785","https://openalex.org/W2158782408","https://openalex.org/W2191013104","https://openalex.org/W2411431895","https://openalex.org/W2573227850","https://openalex.org/W2581883256","https://openalex.org/W2929034575","https://openalex.org/W2980792850","https://openalex.org/W2988645098","https://openalex.org/W3016830585","https://openalex.org/W3022219091","https://openalex.org/W3121118331","https://openalex.org/W3135156201","https://openalex.org/W3141954417","https://openalex.org/W3149466088","https://openalex.org/W4225004582","https://openalex.org/W4285102648","https://openalex.org/W4312824283","https://openalex.org/W4312933868","https://openalex.org/W4386076425","https://openalex.org/W4386702958","https://openalex.org/W4398191052","https://openalex.org/W4400034095","https://openalex.org/W4401415240","https://openalex.org/W4401553317","https://openalex.org/W4403337227"],"related_works":["https://openalex.org/W4301024388","https://openalex.org/W775311126","https://openalex.org/W4300030714","https://openalex.org/W4391334978","https://openalex.org/W1517876498","https://openalex.org/W4365211920","https://openalex.org/W3021262926","https://openalex.org/W4317695495","https://openalex.org/W4388137171","https://openalex.org/W1967909251"],"abstract_inverted_index":{"Astract-Recent":[0],"advances":[1],"in":[2,102,130],"foundation":[3],"models":[4],"are":[5],"significantly":[6],"expanding":[7],"the":[8,58,62,71,76,107,112,133,138],"capabilities":[9],"of":[10,15,61,70,75,128,137],"AI":[11],"models.":[12],"As":[13],"part":[14],"this":[16,18],"progress,":[17],"paper":[19],"introduces":[20],"a":[21,27,88,99,125],"robot":[22,43,63,97,113],"design":[23,52,60],"framework":[24,77],"that":[25,45],"uses":[26],"diffusion":[28],"model":[29],"approach":[30,55],"for":[31],"generating":[32,40],"3D":[33],"mesh":[34],"structures.":[35],"Specifically,":[36],"we":[37],"focus":[38],"on":[39],"directly":[41],"fabri-cable":[42],"structures":[44],"require":[46],"no":[47],"post-processing":[48],"guided":[49],"by":[50,64],"human-imposed":[51],"constraints.":[53],"Our":[54,91],"can":[56,121],"find":[57],"optimal":[59],"optimizing":[65],"or":[66],"composing":[67],"embedding":[68],"vectors":[69],"model.":[72],"The":[73],"efficacy":[74],"is":[78,93,114],"validated":[79],"through":[80],"an":[81,94,117],"application":[82],"to":[83,106,132],"design,":[84],"fabricate,":[85],"and":[86],"evaluate":[87],"jumping":[89,96],"robot.":[90,140],"solution":[92],"optimized":[95,118],"with":[98,116,124],"41%":[100],"increase":[101],"jump":[103],"height":[104],"compared":[105],"state-of-the-art":[108],"design.":[109],"Additionally,":[110],"when":[111],"augmented":[115],"foot,":[119],"it":[120],"land":[122],"reliably":[123],"success":[126,135],"ratio":[127,136],"88%":[129],"contrast":[131],"4%":[134],"base":[139]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}