ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics

2 October 2018

William T. Freeman

Jiajun Wu

Daniela Rus

Wojciech Matusik

AI4CE

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Papers citing "ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics"

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Title
Modeling, Embedded Control and Design of Soft Robots using a Learned Condensed FEM Model Etienne Ménager Tanguy Navez Paul Chaillou O. Goury Alexandre Kruszewski Christian Duriez AI4CE 46 1 0 19 Mar 2025
Prof. Robot: Differentiable Robot Rendering Without Static and Self-Collisions Quanyuan Ruan Jiabao Lei Wenhao Yuan Y. Zhang Dekun Lu Guiliang Liu Kui Jia 70 0 0 14 Mar 2025
Differentiable Simulation of Soft Robots with Frictional Contacts Etienne Ménager Louis Montaut Quentin Le Lidec Justin Carpentier 111 1 0 31 Jan 2025
Physics-Grounded Differentiable Simulation for Soft Growing Robots Lucas Chen Yitian Gao Sicheng Wang Francesco Fuentes Laura H. Blumenschein Zachary Kingston 38 0 0 29 Jan 2025
Fairness in Reinforcement Learning with Bisimulation Metrics S. Rezaei-Shoshtari Hanna Yurchyk Scott Fujimoto Doina Precup D. Meger 77 0 0 03 Jan 2025
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation Eliot Xing Vernon Luk Jean Oh 84 0 0 16 Dec 2024
Learning Object Properties Using Robot Proprioception via Differentiable Robot-Object Interaction Peter Yichen Chen Chao Liu Pingchuan Ma John Eastman Daniela Rus Dylan Randle Yuri Ivanov Wojciech Matusik 41 0 0 04 Oct 2024
A Differentiable Material Point Method Framework for Shape Morphing Michael Xu Chang-Yong Song David I. W. Levin David Hyde 26 1 0 24 Sep 2024
Back to Newton's Laws: Learning Vision-based Agile Flight via Differentiable Physics Yuang Zhang Yu Hu Yunlong Song Danping Zou Weiyao Lin 38 17 0 15 Jul 2024
OASim: an Open and Adaptive Simulator based on Neural Rendering for Autonomous Driving Guohang Yan Jiahao Pi Jianfei Guo Zhaotong Luo Min Dou ... Bo-Wen Zhang Xuemeng Yang Yeqi Bai Hongbin Zhou Botian Shi 17 8 0 06 Feb 2024
Implicit Neural Representation for Physics-driven Actuated Soft Bodies Lingchen Yang Byungsoo Kim Gaspard Zoss Baran Gözcü Markus Gross B. Solenthaler AI4CE 3DH 23 19 0 26 Jan 2024
DittoGym: Learning to Control Soft Shape-Shifting Robots Suning Huang Boyuan Chen Huazhe Xu Vincent Sitzmann 42 3 0 24 Jan 2024
SoftMAC: Differentiable Soft Body Simulation with Forecast-based Contact Model and Two-way Coupling with Articulated Rigid Bodies and Clothes Min Liu Gang Yang Siyuan Luo Lin Shao 27 3 0 06 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 40 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 16 3 0 07 Aug 2023
UniSim: A Neural Closed-Loop Sensor Simulator Ze Yang Yun Chen Jingkang Wang S. Manivasagam Wei-Chiu Ma A. Yang R. Urtasun 40 187 0 03 Aug 2023
Domain Randomization for Robust, Affordable and Effective Closed-loop Control of Soft Robots Gabriele Tiboni Andrea Protopapa Tatiana Tommasi Giuseppe Averta 22 4 0 07 Mar 2023
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications Jeonghoon Lee M. Michelis Robert K. Katzschmann Zachary Manchester 19 4 0 17 Jan 2023
Deep Inventory Management Dhruv Madeka Kari Torkkola Carson Eisenach Anna Luo Dean Phillips Foster Sham M. Kakade BDL 35 15 0 06 Oct 2022
Fluidic Topology Optimization with an Anisotropic Mixture Model Yifei Li Tao Du Sangeetha Grama Srinivasan Kui Wu Bo Zhu Eftychios Sifakis Wojciech Matusik 33 9 0 22 Sep 2022
Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands Dylan Turpin Liquang Wang Eric Heiden Yun-Chun Chen Miles Macklin Stavros Tsogkas Sven J. Dickinson Animesh Garg 13 67 0 25 Aug 2022
Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs Stephan-Daniel Gravert M. Michelis Simon Rogler Dario Tscholl Thomas Buchner Robert K. Katzschmann 20 5 0 01 Aug 2022
Biological Robots: Perspectives on an Emerging Interdisciplinary Field Douglas Blackiston Sam Kriegman Josh Bongard Michael Levin AI4CE 23 25 0 02 Jul 2022
Differentiable solver for time-dependent deformation problems with contact Zizhou Huang Davi C. Tozoni Arvi Gjoka Z. Ferguson T. Schneider Daniele Panozzo Denis Zorin AI4CE 32 18 0 26 May 2022
Contact Points Discovery for Soft-Body Manipulations with Differentiable Physics Sizhe Li Zhiao Huang Tao Du Hao Su J. Tenenbaum Chuang Gan 17 26 0 05 May 2022
DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects Priya Sundaresan Rika Antonova Jeannette Bohg 3DPC 37 34 0 07 Apr 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 27 72 0 31 Mar 2022
ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation Bokui Shen Zhenyu Jiang Chris Choy Leonidas J. Guibas Silvio Savarese Anima Anandkumar Yuke Zhu AI4CE 14 41 0 14 Mar 2022
Sim-to-Real for Soft Robots using Differentiable FEM: Recipes for Meshing, Damping, and Actuation Mathieu Dubied M. Michelis Andrew Spielberg Robert K. Katzschmann AI4CE 9 33 0 29 Jan 2022
Soft Robots Modeling: a Structured Overview C. Armanini F. Boyer A. Mathew Christian Duriez F. Renda 11 141 0 07 Dec 2021
DiffSDFSim: Differentiable Rigid-Body Dynamics With Implicit Shapes Michael Strecke Joerg Stueckler AI4CE 19 18 0 30 Nov 2021
SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning Jun Lv Qiaojun Yu Lin Shao Wenhai Liu Wenqiang Xu Cewu Lu 30 24 0 29 Nov 2021
Model reduction for the material point method via an implicit neural representation of the deformation map Peter Yichen Chen Maurizio M. Chiaramonte E. Grinspun Kevin Carlberg 29 15 0 25 Sep 2021
Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation Eric Heiden Chris Denniston David Millard Fabio Ramos Gaurav Sukhatme 27 21 0 18 Sep 2021
GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients Brian Plancher Sabrina M. Neuman Radhika Ghosal S. Kuindersma Vijay Janapa Reddi AI4CE PINN 40 15 0 14 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 16 88 0 15 Jul 2021
Multi-Objective Graph Heuristic Search for Terrestrial Robot Design Jie Xu Andrew Spielberg Allan Zhao Daniela Rus Wojciech Matusik 58 38 0 13 Jul 2021
DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact Yifei Li Tao Du Kui Wu Jie Xu Wojciech Matusik 24 90 0 09 Jun 2021
Challenges and Outlook in Robotic Manipulation of Deformable Objects Jihong Zhu A. Cherubini C. Dune D. Navarro-Alarcon Farshid Alambeigi ... Jens Kober Xiang-Yang Li Jia Pan Wenzhen Yuan Michael Gienger AI4CE 30 201 0 04 May 2021
Sim2Sim Evaluation of a Novel Data-Efficient Differentiable Physics Engine for Tensegrity Robots Kun Wang Mridul Aanjaneya Kostas Bekris 12 15 0 10 Nov 2020
Learning Physical Constraints with Neural Projections Shuqi Yang Xingzhe He Bo Zhu 3DV AI4CE 33 25 0 23 Jun 2020
Lagrangian Neural Style Transfer for Fluids Byungsoo Kim Vinicius Azevedo Markus Gross B. Solenthaler 28 37 0 02 May 2020
A First Principles Approach for Data-Efficient System Identification of Spring-Rod Systems via Differentiable Physics Engines Kun Wang Mridul Aanjaneya Kostas Bekris PINN 6 21 0 28 Apr 2020
Use the Force, Luke! Learning to Predict Physical Forces by Simulating Effects Kiana Ehsani Shubham Tulsiani Saurabh Gupta Ali Farhadi Abhinav Gupta 11 52 0 26 Mar 2020
Differentiable Molecular Simulations for Control and Learning Wujie Wang Simon Axelrod Rafael Gómez-Bombarelli AI4CE 103 49 0 27 Feb 2020
Deep Differentiable Grasp Planner for High-DOF Grippers Min Liu Zherong Pan Kai Xu Kanishka Ganguly Dinesh Manocha 23 71 0 04 Feb 2020
Learning to Control PDEs with Differentiable Physics Philipp Holl V. Koltun Nils Thuerey AI4CE PINN 44 185 0 21 Jan 2020
Titan: A Parallel Asynchronous Library for Multi-Agent and Soft-Body Robotics using NVIDIA CUDA J. Austin Rafael Corrales-Fatou S. Wyetzner Hod Lipson AI4CE 9 20 0 22 Nov 2019
SPNets: Differentiable Fluid Dynamics for Deep Neural Networks Connor Schenck D. Fox PINN 3DPC AI4CE 172 161 0 15 Jun 2018
A Compositional Object-Based Approach to Learning Physical Dynamics Michael Chang T. Ullman Antonio Torralba J. Tenenbaum AI4CE OCL 241 438 0 01 Dec 2016