Accelerated Policy Learning with Parallel Differentiable Simulation

International Conference on Learning Representations (ICLR), 2022

14 April 2022

Papers citing "Accelerated Policy Learning with Parallel Differentiable Simulation"

49 / 49 papers shown

Title
Staggered Environment Resets Improve Massively Parallel On-Policy Reinforcement Learning Sid Bharthulwar Stone Tao Hao Su OffRL 202 0 0 26 Nov 2025
First-order Sobolev Reinforcement Learning Fabian Schramm Nicolas Perrin-Gilbert Justin Carpentier 40 0 0 24 Nov 2025
DDBot: Differentiable Physics-based Digging Robot for Unknown Granular Materials Xintong Yang Minglun Wei Ze Ji Yu-kun Lai AI4CE 168 0 0 20 Oct 2025
UrbanVerse: Scaling Urban Simulation by Watching City-Tour Videos Mingxuan Liu Honglin He Elisa Ricci Wayne Wu Bolei Zhou VGen 128 0 0 16 Oct 2025
Efficient Differentiable Contact Model with Long-range Influence Xiaohan Ye Kui Wu Zherong Pan Taku Komura 100 0 0 25 Sep 2025
DynaFlow: Dynamics-embedded Flow Matching for Physically Consistent Motion Generation from State-only Demonstrations Sowoo Lee Dongyun Kang Jaehyun Park Hae-Won Park AI4CE 300 0 0 24 Sep 2025
StableTracker: Learning to Stably Track Target via Differentiable Simulation Fanxing Li Shengyang Wang Fangyu Sun Shuyu Wu Dexin Zuo Wenxian Yu Danping Zou 144 0 0 17 Sep 2025
DiffAero: A GPU-Accelerated Differentiable Simulation Framework for Efficient Quadrotor Policy Learning Xinhong Zhang Runqing Wang Yunfan Ren Jian Sun H. Fang Jie Chen G. Wang 128 0 0 12 Sep 2025
First Order Model-Based RL through Decoupled Backpropagation Joseph Amigo Rooholla Khorrambakht Elliot Chane-Sane Nicolas Mansard Ludovic Righetti 142 0 0 29 Aug 2025
Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation Jiahe Pan Jiaxu Xing Rudolf Reiter Yifan Zhai Elie Aljalbout Davide Scaramuzza 140 1 0 28 Aug 2025
Reparameterization Proximal Policy Optimization Hai Zhong Xun Wang Zhuoran Li Longbo Huang 169 0 0 08 Aug 2025
Relative Entropy Pathwise Policy Optimization C. Voelcker Axel Brunnbauer Marcel Hussing Michal Nauman Pieter Abbeel Eric Eaton Radu Grosu Amir-massoud Farahmand Igor Gilitschenski 321 0 0 15 Jul 2025
Time-Aware World Model for Adaptive Prediction and Control Anh N. Nhu Sanghyun Son Ming-Chyuan Lin AI4TS TTA 210 1 0 10 Jun 2025
Accelerated Learning with Linear Temporal Logic using Differentiable Simulation Alper Kamil Bozkurt Calin Belta Ming C. Lin 239 0 0 01 Jun 2025
Accelerating Visual-Policy Learning through Parallel Differentiable Simulation Haoxiang You Yilang Liu Ian Abraham 345 0 0 15 May 2025
GRaD-Nav: Efficiently Learning Visual Drone Navigation with Gaussian Radiance Fields and Differentiable Dynamics Qianzhong Chen Jiankai Sun Naixiang Gao JunEn Low Timothy Chen Mac Schwager 355 6 0 06 Mar 2025
Accelerating Model-Based Reinforcement Learning with State-Space World Models Maria Krinner Elie Aljalbout Angel Romero Davide Scaramuzza OffRL 231 7 0 27 Feb 2025
Physics-Grounded Differentiable Simulation for Soft Growing RobotsInternational Conference on Soft Robotics (RoboSoft), 2025 Lucas Chen Yitian Gao Sicheng Wang Francesco Fuentes Laura H. Blumenschein Zachary Kingston 270 5 0 29 Jan 2025
ABPT: Amended Backpropagation through Time with Partially Differentiable Rewards Fanxing Li Fangyu Sun Tianbao Zhang Danping Zou 254 1 0 24 Jan 2025
Gradient-based Trajectory Optimization with Parallelized Differentiable Traffic SimulationIEEE International Conference on Robotics and Automation (ICRA), 2024 Sanghyun Son L. Zheng Brian Clipp Connor Greenwell Sujin Philip Ming-Chyuan Lin 445 1 0 21 Dec 2024
Stabilizing Reinforcement Learning in Differentiable Multiphysics SimulationInternational Conference on Learning Representations (ICLR), 2024 Eliot Xing Vernon Luk Jean Oh 368 10 0 16 Dec 2024
Safe Reinforcement Learning using Finite-Horizon Gradient-based EstimationInternational Conference on Machine Learning (ICML), 2024 Juntao Dai Yaodong Yang Qian Zheng Gang Pan OffRL 264 3 0 15 Dec 2024
Learning Quadrotor Control From Visual Features Using Differentiable SimulationIEEE International Conference on Robotics and Automation (ICRA), 2024 Johannes Heeg Yunlong Song Davide Scaramuzza 266 15 0 21 Oct 2024
Multilingual Topic Classification in X: Dataset and AnalysisConference on Empirical Methods in Natural Language Processing (EMNLP), 2024 Dimosthenis Antypas Asahi Ushio Francesco Barbieri Jose Camacho-Collados 218 1 0 04 Oct 2024
Evolution and learning in differentiable robots Luke Strgar David Matthews Tyler Hummer Sam Kriegman 162 7 0 23 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
SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty Sirui Chen Jeannette Bohg Karen Liu 308 6 0 21 Apr 2024
Benchmarking Population-Based Reinforcement Learning across Robotic Tasks with GPU-Accelerated Simulation Asad Ali Shahid Yashraj S. Narang Vincenzo Petrone Enrico Ferrentino Ankur Handa Dieter Fox Marco Pavone L. Roveda 387 2 0 04 Apr 2024
Task-optimal data-driven surrogate models for eNMPC via differentiable simulation and optimization Daniel Mayfrank Na Young Ahn Alexander Mitsos Manuel Dahmen 418 2 0 21 Mar 2024
Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation Xiao Ma Sumit Patidar Iain Haughton Stephen James 234 100 0 06 Mar 2024
Do Transformer World Models Give Better Policy Gradients? Michel Ma Tianwei Ni Clement Gehring P. DÓro Pierre-Luc Bacon 259 5 0 07 Feb 2024
DeepSimHO: Stable Pose Estimation for Hand-Object Interaction via Physics SimulationNeural Information Processing Systems (NeurIPS), 2023 Rong Wang Wei Mao Hongdong Li 3DH 269 13 0 11 Oct 2023
A Survey on Physics Informed Reinforcement Learning: Review and Open ProblemsExpert systems with applications (ESWA), 2023 C. Banerjee Kien Nguyen Clinton Fookes M. Raissi PINN AI4CE 231 26 0 05 Sep 2023
End-to-End Reinforcement Learning of Koopman Models for Economic Nonlinear Model Predictive ControlComputers and Chemical Engineering (Comput. Chem. Eng.), 2023 Daniel Mayfrank Alexander Mitsos Manuel Dahmen 307 7 0 03 Aug 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 268 51 0 13 Jun 2023
Galactic: Scaling End-to-End Reinforcement Learning for Rearrangement at 100k Steps-Per-SecondComputer Vision and Pattern Recognition (CVPR), 2023 Vincent-Pierre Berges Andrew Szot Devendra Singh Chaplot Aaron Gokaslan Roozbeh Mottaghi Dhruv Batra Eric Undersander LRM LM&Ro 233 7 0 13 Jun 2023
Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares OptimizationIEEE Conference on Decision and Control (CDC), 2023 Glen Chou Russ Tedrake 307 3 0 24 Apr 2023
DiffMimic: Efficient Motion Mimicking with Differentiable PhysicsInternational Conference on Learning Representations (ICLR), 2023 Jiawei Ren Cunjun Yu Siwei Chen Xiao Ma Liang Pan Ziwei Liu 206 21 0 06 Apr 2023
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural NetsIEEE International Conference on Robotics and Automation (ICRA), 2023 Isabella Huang Yashraj S. Narang R. Bajcsy Fabio Ramos Tucker Hermans Dieter Fox 123 14 0 28 Mar 2023
DaXBench: Benchmarking Deformable Object Manipulation with Differentiable PhysicsInternational Conference on Learning Representations (ICLR), 2022 Siwei Chen Yiqing Xu Cunjun Yu Linfeng Li Xiao Ma Zhongwen Xu David Hsu AI4CE 182 24 0 24 Oct 2022
Solving Continuous Control via Q-learningInternational Conference on Learning Representations (ICLR), 2022 Tim Seyde Peter Werner Wilko Schwarting Igor Gilitschenski Martin Riedmiller Daniela Rus Markus Wulfmeier OffRL LRM 198 29 0 22 Oct 2022
NeuPhysics: Editable Neural Geometry and Physics from Monocular VideosNeural Information Processing Systems (NeurIPS), 2022 Yi-Ling Qiao Alexander Gao Ming-Chyuan Lin 3DH 191 48 0 22 Oct 2022
Conservative Dual Policy Optimization for Efficient Model-Based Reinforcement LearningNeural Information Processing Systems (NeurIPS), 2022 Shen Zhang 138 6 0 16 Sep 2022
Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered HandsEuropean Conference on Computer Vision (ECCV), 2022 Dylan Turpin Liquang Wang Eric Heiden Yun-Chun Chen Lukasz Wawrzyniak Stavros Tsogkas Sven J. Dickinson Animesh Garg 209 88 0 25 Aug 2022
What deep reinforcement learning tells us about human motor learning and vice-versa Michele Garibbo Casimir J. H. Ludwig Nathan Lepora Laurence Aitchison 161 1 0 23 Aug 2022
Bayesian Generational Population-Based Training Xingchen Wan Cong Lu Jack Parker-Holder Philip J. Ball Vu-Linh Nguyen Binxin Ru Michael A. Osborne OffRL 143 20 0 19 Jul 2022
Differentiable Physics Simulations with Contacts: Do They Have Correct Gradients w.r.t. Position, Velocity and Control? Yaofeng Desmond Zhong Jiequn Han Georgia Olympia Brikis 193 21 0 08 Jul 2022
Control of Two-way Coupled Fluid Systems with Differentiable Solvers B. Ramos Felix Trost Nils Thuerey AI4CE 218 7 0 01 Jun 2022
Differentiable solver for time-dependent deformation problems with contactACM Transactions on Graphics (TOG), 2022 Zizhou Huang Davi C. Tozoni Arvi Gjoka Z. Ferguson T. Schneider Daniele Panozzo Denis Zorin AI4CE 437 29 0 26 May 2022