A Differentiable Physics Engine for Deep Learning in Robotics

5 November 2016

Papers citing "A Differentiable Physics Engine for Deep Learning in Robotics"

50 / 59 papers shown

Title
Prof. Robot: Differentiable Robot Rendering Without Static and Self-Collisions Quanyuan Ruan Jiabao Lei Wenhao Yuan Y. Zhang Dekun Lu Guiliang Liu Kui Jia 77 0 0 14 Mar 2025
Gradient-based Trajectory Optimization with Parallelized Differentiable Traffic Simulation Sanghyun Son L. Zheng Brian Clipp Connor Greenwell Sujin Philip Ming-Chyuan Lin 92 0 0 21 Dec 2024
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation Eliot Xing Vernon Luk Jean Oh 97 0 0 16 Dec 2024
Learning Object Properties Using Robot Proprioception via Differentiable Robot-Object Interaction Julius Berner Chao Liu Pingchuan Ma John Eastman Daniela Rus Dylan Randle Yuri Ivanov Wojciech Matusik 46 0 0 04 Oct 2024
Shadow Program Inversion with Differentiable Planning: A Framework for Unified Robot Program Parameter and Trajectory Optimization Benjamin Alt Claudius Kienle Darko Katic Rainer Jäkel Michael Beetz 56 1 0 13 Sep 2024
Global Optimisation of Black-Box Functions with Generative Models in the Wasserstein Space Tigran Ramazyan M. Hushchyn D. Derkach 41 0 0 16 Jul 2024
Implicit Neural Representation for Physics-driven Actuated Soft Bodies Lingchen Yang Byungsoo Kim Gaspard Zoss Baran Gözcü Markus Gross B. Solenthaler AI4CE 3DH 26 19 0 26 Jan 2024
Gradient Informed Proximal Policy Optimization Sanghyun Son L. Zheng Ryan Sullivan Yi-Ling Qiao Ming-Chyuan Lin 37 7 0 14 Dec 2023
Differentiable Visual Computing for Inverse Problems and Machine Learning Andrew Spielberg Fangcheng Zhong Konstantinos Rematas Krishna Murthy Jatavallabhula Cengiz Öztireli Tzu-Mao Li Derek Nowrouzezahrai 56 7 0 21 Nov 2023
System Identification and Control of Front-Steered Ackermann Vehicles through Differentiable Physics B. M. Gonultas Pratik Mukherjee O. G. Poyrazoglu Volkan Isler 24 3 0 07 Aug 2023
Improving Gradient Computation for Differentiable Physics Simulation with Contacts Yaofeng Desmond Zhong Jiequn Han Biswadip Dey Georgia Olympia Brikis 51 3 0 28 Apr 2023
Active Mass Distribution Estimation from Tactile Feedback Jiacheng Yuan Changhyun Choi E. Tadmor Volkan Isler 8 1 0 02 Mar 2023
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications Jeonghoon Lee M. Michelis Robert K. Katzschmann Zachary Manchester 27 4 0 17 Jan 2023
Learning Tool Morphology for Contact-Rich Manipulation Tasks with Differentiable Simulation Mengxi Li Rika Antonova Dorsa Sadigh Jeannette Bohg 13 4 0 04 Nov 2022
Differentiable Analog Quantum Computing for Optimization and Control Jiaqi Leng Yuxiang Peng Yi-Ling Qiao Ming-Chyuan Lin Xiaodi Wu 22 15 0 28 Oct 2022
Physical Computing for Materials Acceleration Platforms Erik J Peterson Alexander Lavin 13 3 0 17 Aug 2022
Learning differentiable solvers for systems with hard constraints Geoffrey Negiar Michael W. Mahoney Aditi S. Krishnapriyan 34 28 0 18 Jul 2022
A Survey on Model-based Reinforcement Learning Fan Luo Tian Xu Hang Lai Xiong-Hui Chen Weinan Zhang Yang Yu OffRL LRM 53 101 0 19 Jun 2022
Predicting Physical Object Properties from Video M. Link Max Schwarz Sven Behnke 18 3 0 02 Jun 2022
Contact Points Discovery for Soft-Body Manipulations with Differentiable Physics Sizhe Li Zhiao Huang Tao Du Hao Su J. Tenenbaum Chuang Gan 25 26 0 05 May 2022
DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools Xingyu Lin Zhiao Huang Yunzhu Li J. Tenenbaum David Held Chuang Gan 35 72 0 31 Mar 2022
Leveraging Reward Gradients For Reinforcement Learning in Differentiable Physics Simulations Sean Gillen Katie Byl AI4CE 23 3 0 06 Mar 2022
Knowledge-Integrated Informed AI for National Security Anu Myne Kevin J. Leahy Ryan Soklaski 21 0 0 04 Feb 2022
Parameter Identification and Motion Control for Articulated Rigid Body Robots Using Differentiable Position-based Dynamics Fei Liu Ming Li Jingpei Lu Entong Su Michael C. Yip AI4CE 31 6 0 15 Jan 2022
Flexible Networks for Learning Physical Dynamics of Deformable Objects Jinhyung D. Park Dohae Lee In-Kwon Lee 3DPC AI4CE 35 2 0 07 Dec 2021
SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning Jun Lv Qiaojun Yu Lin Shao Wenhai Liu Wenqiang Xu Cewu Lu 33 24 0 29 Nov 2021
Gradients are Not All You Need Luke Metz C. Freeman S. Schoenholz Tal Kachman 33 93 0 10 Nov 2021
Dynamic Visual Reasoning by Learning Differentiable Physics Models from Video and Language Mingyu Ding Zhenfang Chen Tao Du Ping Luo J. Tenenbaum Chuang Gan VGen PINN OCL 40 74 0 28 Oct 2021
A Differentiable Newton-Euler Algorithm for Real-World Robotics M. Lutter Vallijah Subasri Joe Watson Frank Rudzicz 29 7 0 24 Oct 2021
Combining Physics and Deep Learning to learn Continuous-Time Dynamics Models M. Lutter Jan Peters PINN AI4CE 43 39 0 05 Oct 2021
Guiding Evolutionary Strategies by Differentiable Robot Simulators Vladislav Kurenkov Bulat Maksudov 31 2 0 01 Oct 2021
GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients Brian Plancher Sabrina M. Neuman Radhika Ghosal S. Kuindersma Vijay Janapa Reddi AI4CE PINN 45 15 0 14 Sep 2021
Follow the Gradient: Crossing the Reality Gap using Differentiable Physics (RealityGrad) J. Collins Ross Brown Jurgen Leitner David Howard AI4CE 32 4 0 10 Sep 2021
An End-to-End Differentiable Framework for Contact-Aware Robot Design Jie Xu Tao Chen Lara Zlokapa Michael Foshey Wojciech Matusik Shinjiro Sueda Pulkit Agrawal 29 89 0 15 Jul 2021
Brax -- A Differentiable Physics Engine for Large Scale Rigid Body Simulation C. Freeman Erik Frey Anton Raichuk Sertan Girgin Igor Mordatch Olivier Bachem 48 355 0 24 Jun 2021
DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact Yifei Li Tao Du Kui Wu Jie Xu Wojciech Matusik 33 91 0 09 Jun 2021
Learning neural network potentials from experimental data via Differentiable Trajectory Reweighting Stephan Thaler Julija Zavadlav 30 66 0 02 Jun 2021
Differentiable Agent-Based Simulation for Gradient-Guided Simulation-Based Optimization Philipp Andelfinger 32 13 0 23 Mar 2021
Extending Lagrangian and Hamiltonian Neural Networks with Differentiable Contact Models Yaofeng Desmond Zhong Biswadip Dey Amit Chakraborty 52 35 0 12 Feb 2021
Differentiable Physics Models for Real-world Offline Model-based Reinforcement Learning M. Lutter Johannes Silberbauer Joe Watson Jan Peters OffRL 29 33 0 03 Nov 2020
Instead of Rewriting Foreign Code for Machine Learning, Automatically Synthesize Fast Gradients William S. Moses Valentin Churavy 19 83 0 04 Oct 2020
Weakly-supervised Learning of Human Dynamics Petrissa Zell Bodo Rosenhahn Bastian Wandt 19 13 0 17 Jul 2020
Scalable Differentiable Physics for Learning and Control Yi-Ling Qiao Junbang Liang V. Koltun Ming Lin PINN AI4CE 38 119 0 04 Jul 2020
Residual Force Control for Agile Human Behavior Imitation and Extended Motion Synthesis Ye Yuan Kris Kitani 29 75 0 12 Jun 2020
Predictive Coding Approximates Backprop along Arbitrary Computation Graphs Beren Millidge Alexander Tschantz Christopher L. Buckley 32 118 0 07 Jun 2020
Learning to Slide Unknown Objects with Differentiable Physics Simulations Changkyu Song Abdeslam Boularias 35 39 0 11 May 2020
Identifying Mechanical Models through Differentiable Simulations Changkyu Song Abdeslam Boularias 27 12 0 11 May 2020
Visual Grounding of Learned Physical Models Yunzhu Li Toru Lin Kexin Yi Daniel M. Bear Daniel L. K. Yamins Jiajun Wu J. Tenenbaum Antonio Torralba OOD OCL AI4CE PINN 39 79 0 28 Apr 2020
Traversing the Reality Gap via Simulator Tuning J. Collins Ross Brown Jurgen Leitner David Howard 38 14 0 03 Mar 2020
Learning to Control PDEs with Differentiable Physics Philipp Holl V. Koltun Nils Thuerey AI4CE PINN 46 185 0 21 Jan 2020