Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact

30 March 2021

Papers citing "Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact"

31 / 31 papers shown

Title
Dexterous Contact-Rich Manipulation via the Contact Trust Region H. Suh Tao Pang Tong Zhao Russ Tedrake 36 4 0 04 May 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 64 0 0 14 Mar 2025
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
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 38 7 0 21 Nov 2023
Improving Gradient Computation for Differentiable Physics Simulation with Contacts Yaofeng Desmond Zhong Jiequn Han Biswadip Dey Georgia Olympia Brikis 33 3 0 28 Apr 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
Learning Tool Morphology for Contact-Rich Manipulation Tasks with Differentiable Simulation Mengxi Li Rika Antonova Dorsa Sadigh Jeannette Bohg 11 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 11 15 0 28 Oct 2022
SAM-RL: Sensing-Aware Model-Based Reinforcement Learning via Differentiable Physics-Based Simulation and Rendering Jun Lv Yunhai Feng Cheng Zhang Shu Zhao Lin Shao Cewu Lu 16 24 0 27 Oct 2022
Differentiable Physics Simulation of Dynamics-Augmented Neural Objects Simon Le Cleac'h Hong-Xing Yu Michelle Guo Taylor A. Howell Ruohan Gao Jiajun Wu Zachary Manchester Mac Schwager AI4CE 27 39 0 17 Oct 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
Human Trajectory Prediction via Neural Social Physics Jiangbei Yue Dinesh Manocha He-Nan Wang AI4CE 19 100 0 21 Jul 2022
Relative Policy-Transition Optimization for Fast Policy Transfer Jiawei Xu Cheng Zhou Yizheng Zhang Zhengyou Zhang Lei Han 16 0 0 13 Jun 2022
Predicting Physical Object Properties from Video M. Link Max Schwarz Sven Behnke 11 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 17 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 24 72 0 31 Mar 2022
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems Quentin Le Lidec Fabian Schramm Louis Montaut Cordelia Schmid Ivan Laptev Justin Carpentier 25 24 0 08 Mar 2022
Dojo: A Differentiable Physics Engine for Robotics Taylor A. Howell Simon Le Cleac'h Jan Brüdigam J. Zico Kolter Mac Schwager Zachary Manchester 14 34 0 02 Mar 2022
Do Differentiable Simulators Give Better Policy Gradients? H. Suh Max Simchowitz K. Zhang Russ Tedrake 25 94 0 02 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 19 6 0 15 Jan 2022
SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning Jun Lv Qiaojun Yu Lin Shao Wenhai Liu Wenqiang Xu Cewu Lu 27 24 0 29 Nov 2021
Gradients are Not All You Need Luke Metz C. Freeman S. Schoenholz Tal Kachman 28 93 0 10 Nov 2021
A Differentiable Newton-Euler Algorithm for Real-World Robotics M. Lutter Vallijah Subasri Joe Watson Frank Rudzicz 22 7 0 24 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 40 15 0 14 Sep 2021
Fast Contact-Implicit Model-Predictive Control Simon Le Cleac'h Taylor A. Howell Shuo Yang Chia-Yen Lee John Z. Zhang Arun L. Bishop Mac Schwager Zachary Manchester 81 79 0 12 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 11 348 0 24 Jun 2021
Extending Lagrangian and Hamiltonian Neural Networks with Differentiable Contact Models Yaofeng Desmond Zhong Biswadip Dey Amit Chakraborty 52 34 0 12 Feb 2021
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
Interaction Networks for Learning about Objects, Relations and Physics Peter W. Battaglia Razvan Pascanu Matthew Lai Danilo Jimenez Rezende Koray Kavukcuoglu AI4CE OCL PINN GNN 278 1,400 0 01 Dec 2016