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
Soft yet Effective Robots via Holistic Co-Design Maximilian Stolzle Niccolò Pagliarani F. Stella Josie Hughes Cecilia Laschi Daniela Rus M. Cianchetti Cosimo Della Santina Gioele Zardini 51 1 0 20 Apr 2025
Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation Yong Li Wenxin Du Chang Yu Puhao Li Zihang Zhao Tengyu Liu Chenfanfu Jiang Y. Zhu Siyuan Huang 36 0 0 17 Apr 2025
Neural Motion Simulator: Pushing the Limit of World Models in Reinforcement Learning Chenjie Hao Weyl Lu Yifan Xu Yubei Chen 23 0 0 09 Apr 2025
Can Real-to-Sim Approaches Capture Dynamic Fabric Behavior for Robotic Fabric Manipulation? Yingdong Ru Lipeng Zhuang Zhuo He Florent P. Audonnet Gerardo Aragon-Caramasa AI4CE 51 0 0 20 Mar 2025
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 54 1 0 19 Mar 2025
TopoGaussian: Inferring Internal Topology Structures from Visual Clues Xiaoyu Xiong Changyu Hu Chunru Lin Pingchuan Ma Chuang Gan Tao Du 39 0 0 16 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 72 0 0 14 Mar 2025
Differentiable Simulation of Soft Robots with Frictional Contacts Etienne Ménager Louis Montaut Quentin Le Lidec Justin Carpentier 119 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 43 0 0 29 Jan 2025
Fairness in Reinforcement Learning with Bisimulation Metrics S. Rezaei-Shoshtari Hanna Yurchyk Scott Fujimoto Doina Precup David Meger 85 0 0 03 Jan 2025
Semantic Residual for Multimodal Unified Discrete Representation Hai Huang Shulei Wang Yan Xia 41 2 0 26 Dec 2024
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation Eliot Xing Vernon Luk Jean Oh 89 0 0 16 Dec 2024
D4W: Dependable Data-Driven Dynamics for Wheeled Robots Yunfeng Lin Minghuan Liu Yong Yu 46 0 0 14 Nov 2024
Developing Simulation Models for Soft Robotic Grippers in Webots Yulyan Wahyu Hadi Lars Hof Bayu Jayawardhana Bahar Haghighat 21 0 0 05 Nov 2024
Learning Object Properties Using Robot Proprioception via Differentiable Robot-Object Interaction Julius Berner 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 31 1 0 24 Sep 2024
DiffSound: Differentiable Modal Sound Rendering and Inverse Rendering for Diverse Inference Tasks Xutong Jin Chenxi Xu Ruohan Gao Jiajun Wu Guoping Wang Sheng Li DiffM 38 2 0 20 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 43 17 0 15 Jul 2024
A Review of Differentiable Simulators Rhys Newbury Jack Collins Kerry He Jiahe Pan Ingmar Posner David Howard Akansel Cosgun AI4CE 49 9 0 08 Jul 2024
Simulating, Fast and Slow: Learning Policies for Black-Box Optimization F. V. Massoli Tim Bakker Thomas M. Hehn Tribhuvanesh Orekondy Arash Behboodi 55 0 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 41 8 0 28 May 2024
Evolution and learning in differentiable robots Luke Strgar David Matthews Tyler Hummer Sam Kriegman 37 3 0 23 May 2024
Elastic Locomotion with Mixed Second-order Differentiation Siyuan Shen Tianjia Shao Kun Zhou Chenfanfu Jiang Sheldon Andrews Victor Zordan Yin Yang 33 1 0 23 May 2024
Function based sim-to-real learning for shape control of deformable free-form surfaces Yingjun Tian Guoxin Fang Renbo Su Weiming Wang Simeon Gill Andrew Weightman Charlie C. L. Wang AI4CE 27 0 0 14 May 2024
RTG-SLAM: Real-time 3D Reconstruction at Scale using Gaussian Splatting Zhexi Peng Tianjia Shao Yong Liu Jingke Zhou Yin Yang Jingdong Wang Kun Zhou 3DGS 40 39 0 30 Apr 2024
Differentiable Voronoi Diagrams for Simulation of Cell-Based Mechanical Systems Logan Numerow Yue Li Stelian Coros B. Thomaszewski 16 3 0 29 Apr 2024
Differentiable Rendering as a Way to Program Cable-Driven Soft Robots K. Arnavaz Kenny Erleben 24 0 0 11 Apr 2024
RADIUM: Predicting and Repairing End-to-End Robot Failures using Gradient-Accelerated Sampling Charles Dawson Anjali Parashar Chuchu Fan 48 0 0 04 Apr 2024
A Convex Formulation of Frictional Contact for the Material Point Method and Rigid Bodies Zeshun Zong Chenfanfu Jiang Xuchen Han 52 4 0 20 Mar 2024
Inverse Garment and Pattern Modeling with a Differentiable Simulator Boyang Yu Frédéric Cordier Hyewon Seo AI4CE 28 2 0 11 Mar 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 Zhang Xuemeng Yang Yeqi Bai Hongbin Zhou Botian Shi 27 8 0 06 Feb 2024
Sim-to-Real of Soft Robots with Learned Residual Physics Junpeng Gao M. Michelis Andrew Spielberg Robert K. Katzschmann 34 5 0 02 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 26 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
Inverse analysis of granular flows using differentiable graph neural network simulator Yongjin Choi Krishna Kumar AI4CE 32 6 0 17 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 38 3 0 06 Dec 2023
DiffuseBot: Breeding Soft Robots With Physics-Augmented Generative Diffusion Models Tsun-Hsuan Wang Juntian Zheng Pingchuan Ma Yilun Du Byungchul Kim Andrew Spielberg Josh Tenenbaum Chuang Gan Daniela Rus AI4CE 32 24 0 28 Nov 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 51 7 0 21 Nov 2023
Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation with Tools Yang You Bokui Shen Congyue Deng Haoran Geng Songlin Wei He Wang Leonidas J. Guibas 32 1 0 05 Nov 2023
Learning Reduced-Order Soft Robot Controller Chen Liang Xifeng Gao Kui Wu Zherong Pan 13 2 0 03 Nov 2023
Robustness for Free: Quality-Diversity Driven Discovery of Agile Soft Robotic Gaits John Daly Daniel Casper Muhammad Farooq Andrew James Ali Khan Phoenix Mulgrew Daniel Tyebkhan Bao Vo John Rieffel 19 1 0 02 Nov 2023
Learning an Inventory Control Policy with General Inventory Arrival Dynamics Sohrab Andaz Carson Eisenach Dhruv Madeka Kari Torkkola Randy Jia Dean Phillips Foster Sham Kakade 33 2 0 26 Oct 2023
Toward the use of proxies for efficient learning manipulation and locomotion strategies on soft robots Etienne Ménager Quentin Peyron Christian Duriez 27 2 0 25 Oct 2023
Estimating Material Properties of Interacting Objects Using Sum-GP-UCB M. Yunus Seker Oliver Kroemer 24 2 0 18 Oct 2023
Diff-Transfer: Model-based Robotic Manipulation Skill Transfer via Differentiable Physics Simulation Yuqi Xiang Feitong Chen Qinsi Wang Yang Gang Xiang Zhang Xinghao Zhu Xingyu Liu Lin Shao 39 1 0 07 Oct 2023
DeepZero: Scaling up Zeroth-Order Optimization for Deep Model Training Aochuan Chen Yimeng Zhang Jinghan Jia James Diffenderfer Jiancheng Liu Konstantinos Parasyris Yihua Zhang Zheng-Wei Zhang B. Kailkhura Sijia Liu 37 43 0 03 Oct 2023
Neural Metamaterial Networks for Nonlinear Material Design Yue Li Stelian Coros B. Thomaszewski 30 16 0 15 Sep 2023
Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact Gang Yang Siyuan Luo Lin Shao 30 6 0 09 Sep 2023
Few-Shot Physically-Aware Articulated Mesh Generation via Hierarchical Deformation Xueyi Liu Bin Wang He Wang Li Yi 43 8 0 21 Aug 2023
Integrated Design Fabrication and Control of a Bioinspired Multimaterial Soft Robotic Hand Samuel Alves Mihail Babcinschi Afonso Silva D. Neto Diogo Fonseca Pedro Neto 17 36 0 08 Aug 2023