DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting

25 May 2021

Papers citing "DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting"

50 / 82 papers shown

Title
Learning Dexterous Manipulation Skills from Imperfect Simulations Elvis Hsieh Wen-Han Hsieh Yen-Jen Wang Toru Lin Jitendra Malik Koushil Sreenath Haozhi Qi 166 0 0 01 Dec 2025
Seeing the Wind from a Falling Leaf Zhiyuan Gao Jiageng Mao Hong-Xing Yu Haozhe Lou Emily Yue-Ting Jia J. Barbič Jiajun Wu Yue Wang VGen PINN 192 0 0 30 Nov 2025
Towards Automated Chicken Deboning via Learning-based Dynamically-Adaptive 6-DoF Multi-Material Cutting Zhaodong Yang Ai-Ping Hu Harish Ravichandar AI4CE 100 0 0 17 Oct 2025
Mash, Spread, Slice! Learning to Manipulate Object States via Visual Spatial Progress Priyanka Mandikal Jiaheng Hu Shivin Dass Sagnik Majumder Roberto Martín-Martín Kristen Grauman 116 1 0 28 Sep 2025
TopoCut: Learning Multi-Step Cutting with Spectral Rewards and Discrete Diffusion Policies Liquan Wang Jiangjie Bian Eric Heiden Animesh Garg 104 0 0 24 Sep 2025
Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation Jiahe Pan Jiaxu Xing Rudolf Reiter Yifan Zhai Elie Aljalbout Davide Scaramuzza 128 1 0 28 Aug 2025
MASIV: Toward Material-Agnostic System Identification from Videos Yizhou Zhao Haoyu Chen Chunjiang Liu Zhenyang Li Charles Herrmann Junhwa Hur Yinxiao Li Ming-Hsuan Yang Bhiksha Raj Min Xu PINN 140 1 0 01 Aug 2025
Vid2Sim: Generalizable, Video-based Reconstruction of Appearance, Geometry and Physics for Mesh-free SimulationComputer Vision and Pattern Recognition (CVPR), 2025 Chuhao Chen Bushi Liu Chen Wang Yiming Huang Anjun Chen Qiao Feng Jiatao Gu Lingjie Liu 3DH VGen AI4CE 153 5 0 06 Jun 2025
Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance Yifei Dong Yan Zhang Sylvain Calinon Florian T. Pokorny 129 0 0 03 Jun 2025
SAVOR: Skill Affordance Learning from Visuo-Haptic Perception for Robot-Assisted Bite Acquisition Zhanxin Wu Bo Ai Tom Silver Tapomayukh Bhattacharjee 210 2 0 03 Jun 2025
Accelerated Learning with Linear Temporal Logic using Differentiable Simulation Alper Kamil Bozkurt Calin Belta Ming C. Lin 223 0 0 01 Jun 2025
Neural Fidelity Calibration for Informative Sim-to-Real Adaptation Youwei Yu Lantao Liu 220 1 0 11 Apr 2025
PINNverse: Accurate parameter estimation in differential equations from noisy data with constrained physics-informed neural networks Marius Almanstötter Roman Vetter Dagmar Iber PINN 283 3 0 07 Apr 2025
PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos Hanxiao Jiang Hao-Yu Hsu Kaifeng Zhang Hsin-Ni Yu Shenlong Wang Yunzhu Li VGen AI4CE 273 31 0 23 Mar 2025
Differentiable Rendering-based Pose Estimation for Surgical Robotic Instruments Zekai Liang Zih-Yun Chiu Florian Richter Michael C. Yip MedIm 171 5 0 07 Mar 2025
GenDOM: Generalizable One-shot Deformable Object Manipulation with Parameter-Aware PolicyIEEE International Conference on Robotics and Automation (ICRA), 2023 So Kuroki Jiaxian Guo T. Matsushima Takuya Okubo Masato Kobayashi Yuya Ikeda Ryosuke Takanami Paul D. Yoo Yutaka Matsuo Yusuke Iwasawa AI4CE 300 3 0 28 Jan 2025
Collective Intelligence for 2D Push Manipulations with Mobile RobotsIEEE Robotics and Automation Letters (RA-L), 2022 So Kuroki T. Matsushima Jumpei Arima Hiroki Furuta Yutaka Matsuo S. Gu Yujin Tang 406 5 0 28 Jan 2025
GenORM: Generalizable One-shot Rope Manipulation with Parameter-Aware Policy So Kuroki Jiaxian Guo T. Matsushima Takuya Okubo Masato Kobayashi Yuya Ikeda Ryosuke Takanami Paul D. Yoo Yutaka Matsuo Yusuke Iwasawa 251 1 0 28 Jan 2025
Semantic Residual for Multimodal Unified Discrete RepresentationIEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), 2024 Hai Huang Shulei Wang Yan Xia 181 2 0 26 Dec 2024
D4W: Dependable Data-Driven Dynamics for Wheeled RobotsInternational Conference on Distributed Artificial Intelligence (DAI), 2023 Yunfeng Lin Minghuan Liu Yong Yu 217 0 0 14 Nov 2024
REPeat: A Real2Sim2Real Approach for Pre-acquisition of Soft Food Items in Robot-assisted FeedingIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Nayoung Ha Ruolin Ye Ziang Liu Shubhangi Sinha Tapomayukh Bhattacharjee 199 8 0 13 Oct 2024
ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2RealConference on Robot Learning (CoRL), 2024 Jiangran Lyu Yuxing Chen Tao Du Feng Zhu Huiquan Liu Yizhou Wang He Wang 300 9 0 21 Sep 2024
One-shot Video Imitation via Parameterized Symbolic Abstraction GraphsIEEE International Conference on Robotics and Automation (ICRA), 2024 Jianren Wang Kangni Liu Dingkun Guo Xian Zhou Christopher G Atkeson 315 2 0 22 Aug 2024
A Review of Differentiable Simulators Rhys Newbury Jack Collins Kerry He Jiahe Pan Ingmar Posner David Howard Akansel Cosgun AI4CE 245 32 0 08 Jul 2024
Gaussian-Informed Continuum for Physical Property Identification and Simulation Junhao Cai Yuji Yang Weihao Yuan Yisheng He Zilong Dong Liefeng Bo Hui Cheng Qifeng Chen 3DV 3DGS 198 25 0 21 Jun 2024
LLM-Craft: Robotic Crafting of Elasto-Plastic Objects with Large Language Models Alison Bartsch A. Farimani 392 10 0 12 Jun 2024
Improving Physics-Augmented Continuum Neural Radiance Field-Based Geometry-Agnostic System Identification with Lagrangian Particle OptimizationComputer Vision and Pattern Recognition (CVPR), 2024 Takuhiro Kaneko 236 9 0 06 Jun 2024
Adaptive Horizon Actor-Critic for Policy Learning in Contact-Rich Differentiable Simulation Ignat Georgiev K. Srinivasan Jie Xu Eric Heiden Animesh Garg 328 20 0 28 May 2024
JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments Nikhil Shinde Xiao Liang Fei Liu Yutong Zhang Florian Richter Sylvia Herbert Michael C. Yip 156 9 0 16 May 2024
Towards Improving Learning from Demonstration Algorithms via MCMC Methods Carl Qi Edward Sun Harry Zhang OffRL 247 0 0 03 May 2024
Differentiable Particles for General-Purpose Deformable Object Manipulation Siwei Chen Yiqing Xu Cunjun Yu Linfeng Li David Hsu 228 12 0 02 May 2024
DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects Dominik Bauer Zhenjia Xu Shuran Song AI4CE 175 12 0 18 Apr 2024
MORPHeus: a Multimodal One-armed Robot-assisted Peeling System with Human Users In-the-loopIEEE International Conference on Robotics and Automation (ICRA), 2024 Ruolin Ye Yifei Hu Yuhan Bian Bian Luke Kulm Tapomayukh Bhattacharjee 317 12 0 09 Apr 2024
A Realistic Surgical Simulator for Non-Rigid and Contact-Rich Manipulation in Surgeries with the da Vinci Research Kit Yafei Ou Sadra Zargarzadeh Paniz Sedighi Mahdi Tavakoli 200 6 0 08 Apr 2024
BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation Chengshu Li Ruohan Zhang J. Wong Cem Gokmen S. Srivastava ... Silvio Savarese H. Gweon Chenxi Liu Jiajun Wu Fei-Fei Li VGen LM&Ro VLM 186 83 0 14 Mar 2024
DiffVL: Scaling Up Soft Body Manipulation using Vision-Language Driven Differentiable Physics Zhiao Huang Feng Chen Yewen Pu Chun-Tse Lin Hao Su Chuang Gan 252 5 0 11 Dec 2023
RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative SimulationInternational Conference on Machine Learning (ICML), 2023 Yufei Wang Zhou Xian Feng Chen Tsun-Hsuan Wang Yian Wang Katerina Fragkiadaki Zackory M. Erickson David Held Chuang Gan LM&Ro 428 169 0 02 Nov 2023
Model-Based Reparameterization Policy Gradient Methods: Theory and Practical AlgorithmsNeural Information Processing Systems (NeurIPS), 2023 Shenao Zhang Boyi Liu Zhaoran Wang Tuo Zhao 242 4 0 30 Oct 2023
Estimating Material Properties of Interacting Objects Using Sum-GP-UCBIEEE International Conference on Robotics and Automation (ICRA), 2023 M. Yunus Seker Oliver Kroemer 189 2 0 18 Oct 2023
STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient DescentIEEE Robotics and Automation Letters (RA-L), 2023 Yewon Lee Philip Huang Krishna Murthy Jatavallabhula Andrew Z. Li Fabian Damken Eric Heiden Kevin Smith Derek Nowrouzezahrai Fabio Ramos Florian Shkurti University of Toronto 318 8 0 03 Oct 2023
Learning Generalizable Tool-use Skills through Trajectory GenerationIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Carl Qi Yilin Wu Sarthak Shetty Haoyue Liu Bowen Jiang Xingyu Lin David Held 436 6 0 29 Sep 2023
Learning to Shape by Grinding: Cutting-surface-aware Model-based Reinforcement LearningIEEE Robotics and Automation Letters (RA-L), 2023 Takumi Hachimine Jun Morimoto Takamitsu Matsubara 179 7 0 04 Aug 2023
RoboChop: Autonomous Framework for Fruit and Vegetable Chopping Leveraging Foundational Models Atharva Dikshit Alison Bartsch Abraham George A. Farimani 151 11 0 24 Jul 2023
Prepare the Chair for the Bear! Robot Imagination of Sitting Affordance to Reorient Previously Unseen ChairsIEEE Robotics and Automation Letters (RA-L), 2023 Xin Meng Hongtao Wu Sipu Ruan Gregory Chirikjian 102 4 0 20 Jun 2023
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable SimulationIEEE International Conference on Robotics and Automation (ICRA), 2023 Dylan Turpin Tao P. Zhong Shutong Zhang Guanglei Zhu Jingzhou Liu ... Eric Heiden Lukasz Wawrzyniak Stavros Tsogkas Sven J. Dickinson Animesh Garg 256 51 0 13 Jun 2023
Granular Gym: High Performance Simulation for Robotic Tasks with Granular Materials David Millard Daniel Pastor J. Bowkett Paul Backes Gaurav Sukhatme 106 6 0 02 Jun 2023
Adaptive Robotic Information Gathering via Non-Stationary Gaussian Processes Weizhe (Wesley) Chen Roni Khardon Lantao Liu 324 13 0 02 Jun 2023
Improving Gradient Computation for Differentiable Physics Simulation with ContactsConference on Learning for Dynamics & Control (L4DC), 2023 Yaofeng Desmond Zhong Jiequn Han Biswadip Dey Georgia Olympia Brikis 208 4 0 28 Apr 2023
DexDeform: Dexterous Deformable Object Manipulation with Human Demonstrations and Differentiable PhysicsInternational Conference on Learning Representations (ICLR), 2023 Sizhe Li Zhiao Huang Tao Chen Tao Du Hao Su J. Tenenbaum Chuang Gan 202 31 0 27 Mar 2023
SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric FeaturesIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Tran Minh Son Le Fares J. Abu-Dakka Ville Kyrki 158 1 0 24 Mar 2023