Physics-Grounded Differentiable Simulation for Soft Growing Robots

International Conference on Soft Robotics (RoboSoft), 2025

29 January 2025

Laura H. Blumenschein

Zachary Kingston

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Papers citing "Physics-Grounded Differentiable Simulation for Soft Growing Robots"

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Title
Learning to Design Soft Hands using Reward Models Xueqian Bai Nicklas Hansen Adabhav Singh Michael T Tolley Yan Duan Pieter Abbeel Xiaolong Wang Sha Yi 111 2 0 20 Oct 2025
Parallel Simulation of Contact and Actuation for Soft Growing Robots Yitian Gao Lucas Chen Priyanka Bhovad Sicheng Wang Zachary Kingston Laura H. Blumenschein 100 0 0 18 Sep 2025
Anisotropic Stiffness and Programmable Actuation for Soft Robots Enabled by an Inflated Rotational JointIEEE International Conference on Robotics and Automation (ICRA), 2024 Sicheng Wang Eugenio Frias Miranda Antonio Alvarez Valdivia Laura H. Blumenschein 167 4 0 16 Oct 2024
Collapse of Straight Soft Growing Inflated Beam Robots Under Their Own WeightInternational Conference on Soft Robotics (RoboSoft), 2023 Ciera McFarland Margaret M. Coad 116 6 0 30 Jun 2023
Finite Element Modeling of Pneumatic Bending Actuators for Inflated-Beam RobotsIEEE Robotics and Automation Letters (RA-L), 2023 Cosima du Pasquier S. Jeong Allison M. Okamura AI4CE 169 4 0 06 Jun 2023
Single-Level Differentiable Contact SimulationIEEE Robotics and Automation Letters (RA-L), 2022 Simon Le Cleac'h Mac Schwager Zachary Manchester Vikas Sindhwani Peter R. Florence Sumeet Singh 212 10 0 13 Dec 2022
Differentiable Collision Detection for a Set of Convex PrimitivesIEEE International Conference on Robotics and Automation (ICRA), 2022 K. Tracy Taylor A. Howell Zachary Manchester 270 68 0 01 Jul 2022
Rethinking Optimization with Differentiable Simulation from a Global PerspectiveConference on Robot Learning (CoRL), 2022 Rika Antonova Jingyun Yang Krishna Murthy Jatavallabhula Jeannette Bohg 314 40 0 28 Jun 2022
Accelerated Policy Learning with Parallel Differentiable SimulationInternational Conference on Learning Representations (ICLR), 2022 Jie Xu Viktor Makoviychuk Yashraj S. Narang Fabio Ramos Wojciech Matusik Animesh Garg Lukasz Wawrzyniak 191 124 0 14 Apr 2022
Do Differentiable Simulators Give Better Policy Gradients?International Conference on Machine Learning (ICML), 2022 H.J. Terry Suh Max Simchowitz Jianchao Tan Russ Tedrake 215 116 0 02 Feb 2022
Model Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges Cosimo Della Santina Christian Duriez Daniela Rus AI4CE 230 291 0 04 Oct 2021
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning Viktor Makoviychuk Lukasz Wawrzyniak Yunrong Guo Michelle Lu Kier Storey ... David Hoeller Nikita Rudin Arthur Allshire Ankur Handa Gavriel State 531 1,447 0 24 Aug 2021
Brax -- A Differentiable Physics Engine for Large Scale Rigid Body Simulation C. Freeman Erik Frey Anton Raichuk Sertan Girgin Igor Mordatch Olivier Bachem 459 450 0 24 Jun 2021
gradSim: Differentiable simulation for system identification and visuomotor control Krishna Murthy Jatavallabhula Lukasz Wawrzyniak Florian Golemo Vikram S. Voleti Petrini ... Erleben Liam Paull Florian Shkurti Derek Nowrouzezahrai Sanja Fidler 137 112 0 06 Apr 2021
NeuralSim: Augmenting Differentiable Simulators with Neural Networks Eric Heiden David Millard Erwin Coumans Yizhou Sheng Gaurav Sukhatme 211 158 0 09 Nov 2020
A Dynamics Simulator for Soft Growing Robots Rianna M. Jitosho Nathaniel Agharese Allison M. Okamura Zachary Manchester AI4CE 137 16 0 03 Nov 2020
ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit RepresentationsConference on Robot Learning (CoRL), 2020 Samuel Pfrommer Mathew Halm Michael Posa 311 93 0 23 Sep 2020
Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing RobotsIEEE Transactions on robotics (IEEE Trans. Robot.), 2020 Laura H. Blumenschein Margaret Koehler Nathan S. Usevitch E. Hawkes Caleb D. Rucker Allison M. Okamura 89 31 0 10 Jun 2020
PyTorch: An Imperative Style, High-Performance Deep Learning LibraryNeural Information Processing Systems (NeurIPS), 2019 Adam Paszke Sam Gross Francisco Massa Adam Lerer James Bradbury ... Sasank Chilamkurthy Benoit Steiner Lu Fang Junjie Bai Soumith Chintala ODL 952 48,140 0 03 Dec 2019
Differentiable Convex Optimization LayersNeural Information Processing Systems (NeurIPS), 2019 Akshay Agrawal Brandon Amos Shane T. Barratt Stephen P. Boyd Steven Diamond Zico Kolter 221 755 0 28 Oct 2019
Retraction of Soft Growing Robots without BucklingIEEE Robotics and Automation Letters (RA-L), 2019 Margaret M. Coad Rachel Thomasson Laura H. Blumenschein Nathan S. Usevitch E. Hawkes Allison M. Okamura 139 66 0 25 Oct 2019
DiffTaichi: Differentiable Programming for Physical SimulationInternational Conference on Learning Representations (ICLR), 2019 Yuanming Hu Luke Anderson Tzu-Mao Li Qi Sun N. Carr Jonathan Ragan-Kelley F. Durand 332 435 0 01 Oct 2019
Robust Navigation of a Soft Growing Robot by Exploiting Contact with the Environment Joseph D. Greer Laura H. Blumenschein Ron Alterovitz E. Hawkes Allison M. Okamura 407 85 0 23 Aug 2019
ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics Yuanming Hu Jiancheng Liu Andrew Spielberg J. Tenenbaum William T. Freeman Jiajun Wu Daniela Rus Wojciech Matusik AI4CE 183 292 0 02 Oct 2018
Decoupled Weight Decay Regularization I. Loshchilov Katharina Eggensperger OffRL 466 2,469 0 14 Nov 2017
OptNet: Differentiable Optimization as a Layer in Neural Networks Brandon Amos J. Zico Kolter 707 1,095 0 01 Mar 2017
Automatic differentiation in machine learning: a survey A. G. Baydin Barak A. Pearlmutter Alexey Radul J. Siskind PINN AI4CE ODL 434 3,223 0 20 Feb 2015