Sofia Kwok — accepted AI-conference papers

2026

Realizing Robotic Swimming with Unified Fluid-Robot Multiphysics

Jeong Hun Lee, Junzhe Hu, Sofia Kwok, Carmel Majidi, Zac Manchester

RSS 2026poster

Matching the swimming efficiency and agility of fish has remained an elusive goal in underwater robotics. Such locomotion capabilities rely on complex vortex interactions between the robot’s body and the surrounding fluid. However, simulating these dynamics, which are governed by coupled ordinary an…

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2025

Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control

Juan Alvarez-Padilla, John Z. Zhang, Sofia Kwok, John M. Dolan, Zachary Manchester

ICRA 2025

This paper presents a system for enabling real-time synthesis of whole-body locomotion and manipulation policies for real-world legged robots. Motivated by recent advancements in robot simulation, we leverage the efficient parallelization capabilities of the MuJoCo simulator on a multi-core CPU to a

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