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ChainQueen: A Real-Time Differentiable Physical Simulator for Soft
  Robotics

ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics

2 October 2018
Yuanming Hu
Jiancheng Liu
Andrew Spielberg
J. Tenenbaum
William T. Freeman
Jiajun Wu
Daniela Rus
Wojciech Matusik
    AI4CE
ArXiv (abs)PDFHTML

Papers citing "ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics"

50 / 87 papers shown
Title
Accelerated Learning with Linear Temporal Logic using Differentiable Simulation
Accelerated Learning with Linear Temporal Logic using Differentiable Simulation
Alper Kamil Bozkurt
Calin Belta
Ming C. Lin
52
0
0
01 Jun 2025
Modeling, Embedded Control and Design of Soft Robots using a Learned Condensed FEM Model
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
160
1
0
19 Mar 2025
Prof. Robot: Differentiable Robot Rendering Without Static and Self-Collisions
Prof. Robot: Differentiable Robot Rendering Without Static and Self-Collisions
Quanyuan Ruan
Jiabao Lei
Wenhao Yuan
Y. Zhang
Dekun Lu
Guiliang Liu
Kui Jia
143
0
0
14 Mar 2025
Physics-Grounded Differentiable Simulation for Soft Growing Robots
Physics-Grounded Differentiable Simulation for Soft Growing Robots
Lucas Chen
Yitian Gao
Sicheng Wang
Francesco Fuentes
Laura H. Blumenschein
Zachary Kingston
90
0
0
29 Jan 2025
Fairness in Reinforcement Learning with Bisimulation Metrics
Fairness in Reinforcement Learning with Bisimulation Metrics
S. Rezaei-Shoshtari
Hanna Yurchyk
Scott Fujimoto
Doina Precup
David Meger
150
0
0
03 Jan 2025
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation
Eliot Xing
Vernon Luk
Jean Oh
184
1
0
16 Dec 2024
Learning Object Properties Using Robot Proprioception via Differentiable Robot-Object Interaction
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
99
0
0
04 Oct 2024
Evolution and learning in differentiable robots
Evolution and learning in differentiable robots
Luke Strgar
David Matthews
Tyler Hummer
Sam Kriegman
96
3
0
23 May 2024
Implicit Neural Representation for Physics-driven Actuated Soft Bodies
Implicit Neural Representation for Physics-driven Actuated Soft Bodies
Lingchen Yang
Byungsoo Kim
Gaspard Zoss
Baran Gözcü
Markus Gross
B. Solenthaler
AI4CE3DH
57
19
0
26 Jan 2024
DittoGym: Learning to Control Soft Shape-Shifting Robots
DittoGym: Learning to Control Soft Shape-Shifting Robots
Suning Huang
Boyuan Chen
Huazhe Xu
Vincent Sitzmann
110
3
0
24 Jan 2024
Inverse analysis of granular flows using differentiable graph neural
  network simulator
Inverse analysis of granular flows using differentiable graph neural network simulator
Yongjin Choi
Krishna Kumar
AI4CE
59
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
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
122
4
0
06 Dec 2023
Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation with Tools
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 Guibas
62
1
0
05 Nov 2023
Learning Reduced-Order Soft Robot Controller
Learning Reduced-Order Soft Robot Controller
Chen Liang
Xifeng Gao
Kui Wu
Zherong Pan
56
2
0
03 Nov 2023
Neural Metamaterial Networks for Nonlinear Material Design
Neural Metamaterial Networks for Nonlinear Material Design
Yue Li
Stelian Coros
B. Thomaszewski
56
17
0
15 Sep 2023
System Identification and Control of Front-Steered Ackermann Vehicles
  through Differentiable Physics
System Identification and Control of Front-Steered Ackermann Vehicles through Differentiable Physics
B. M. Gonultas
Pratik Mukherjee
O. G. Poyrazoglu
Volkan Isler
83
3
0
07 Aug 2023
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through
  Differentiable Simulation
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation
Dylan Turpin
Tao P. Zhong
Shutong Zhang
Guanglei Zhu
Jingzhou Liu
...
Eric Heiden
Miles Macklin
Stavros Tsogkas
Sven J. Dickinson
Animesh Garg
108
36
0
13 Jun 2023
DiffMimic: Efficient Motion Mimicking with Differentiable Physics
DiffMimic: Efficient Motion Mimicking with Differentiable Physics
Jiawei Ren
Cunjun Yu
Siwei Chen
Xiao Ma
Liang Pan
Ziwei Liu
64
19
0
06 Apr 2023
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for
  Robotics Applications
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications
Jeonghoon Lee
M. Michelis
Robert K. Katzschmann
Zachary Manchester
61
5
0
17 Jan 2023
DiffXPBD : Differentiable Position-Based Simulation of Compliant
  Constraint Dynamics
DiffXPBD : Differentiable Position-Based Simulation of Compliant Constraint Dynamics
Tuur Stuyck
Hsiao-yu Chen
91
5
0
04 Jan 2023
Estimating Cloth Elasticity Parameters Using Position-Based Simulation
  of Compliant Constrained Dynamics
Estimating Cloth Elasticity Parameters Using Position-Based Simulation of Compliant Constrained Dynamics
Egor Larionov
Marie-Lena Eckert
K. Wolff
Tuur Stuyck
61
9
0
17 Dec 2022
Fluidic Topology Optimization with an Anisotropic Mixture Model
Fluidic Topology Optimization with an Anisotropic Mixture Model
Yifei Li
Tao Du
Sangeetha Grama Srinivasan
Kui Wu
Bo Zhu
Eftychios Sifakis
Wojciech Matusik
71
10
0
22 Sep 2022
C^2:Co-design of Robots via Concurrent Networks Coupling Online and
  Offline Reinforcement Learning
C^2:Co-design of Robots via Concurrent Networks Coupling Online and Offline Reinforcement Learning
Ci Chen
Pingyu Xiang
Haojian Lu
Yue Wang
R. Xiong
OffRL
84
3
0
14 Sep 2022
Neural Approaches to Co-Optimization in Robotics
Neural Approaches to Co-Optimization in Robotics
Charles B. Schaff
96
1
0
01 Sep 2022
Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered
  Hands
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
83
69
0
25 Aug 2022
Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer
  Driven by Peano-HASELs
Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs
Stephan-Daniel Gravert
M. Michelis
Simon Rogler
Dario Tscholl
Thomas Buchner
Robert K. Katzschmann
112
6
0
01 Aug 2022
A Massively-Parallel 3D Simulator for Soft and Hybrid Robots
A Massively-Parallel 3D Simulator for Soft and Hybrid Robots
Joel Clay
S. Wyetzner
A. Gaudio
Boxi Xia
Andrew Moshova
J. Austin
Max Segan
Hod Lipson
26
1
0
19 Jul 2022
Automatic Quantization for Physics-Based Simulation
Automatic Quantization for Physics-Based Simulation
Jiafeng Liu
Haoyang Shi
Siyuan Zhang
Yin Yang
Chongyang Ma
Weiwei Xu
MQ
30
0
0
11 Jul 2022
Biological Robots: Perspectives on an Emerging Interdisciplinary Field
Biological Robots: Perspectives on an Emerging Interdisciplinary Field
Douglas Blackiston
Sam Kriegman
Josh Bongard
Michael Levin
AI4CE
70
24
0
02 Jul 2022
Rethinking Optimization with Differentiable Simulation from a Global
  Perspective
Rethinking Optimization with Differentiable Simulation from a Global Perspective
Rika Antonova
Jingyun Yang
Krishna Murthy Jatavallabhula
Jeannette Bohg
140
35
0
28 Jun 2022
Differentiable solver for time-dependent deformation problems with
  contact
Differentiable solver for time-dependent deformation problems with contact
Zizhou Huang
Davi C. Tozoni
Arvi Gjoka
Z. Ferguson
T. Schneider
Daniele Panozzo
Denis Zorin
AI4CE
76
20
0
26 May 2022
RISP: Rendering-Invariant State Predictor with Differentiable Simulation
  and Rendering for Cross-Domain Parameter Estimation
RISP: Rendering-Invariant State Predictor with Differentiable Simulation and Rendering for Cross-Domain Parameter Estimation
Pingchuan Ma
Tao Du
J. Tenenbaum
Wojciech Matusik
Chuang Gan
121
28
0
11 May 2022
Contact Points Discovery for Soft-Body Manipulations with Differentiable
  Physics
Contact Points Discovery for Soft-Body Manipulations with Differentiable Physics
Sizhe Li
Zhiao Huang
Tao Du
Hao Su
J. Tenenbaum
Chuang Gan
63
27
0
05 May 2022
Differentiable Simulation of Soft Multi-body Systems
Differentiable Simulation of Soft Multi-body Systems
Yi-Ling Qiao
Junbang Liang
V. Koltun
Ming-Chyuan Lin
AI4CE
88
44
0
03 May 2022
DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects
DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects
Priya Sundaresan
Rika Antonova
Jeannette Bohg
3DPC
110
37
0
07 Apr 2022
DiffSkill: Skill Abstraction from Differentiable Physics for Deformable
  Object Manipulations with Tools
DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools
Xingyu Lin
Zhiao Huang
Yunzhu Li
J. Tenenbaum
David Held
Chuang Gan
88
73
0
31 Mar 2022
ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object
  Manipulation
ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation
Bokui Shen
Zhenyu Jiang
Chris Choy
Leonidas Guibas
Silvio Savarese
Anima Anandkumar
Yuke Zhu
AI4CE
117
43
0
14 Mar 2022
Soft Robots Learn to Crawl: Jointly Optimizing Design and Control with
  Sim-to-Real Transfer
Soft Robots Learn to Crawl: Jointly Optimizing Design and Control with Sim-to-Real Transfer
Charles B. Schaff
Audrey Sedal
Matthew R. Walter
67
26
0
09 Feb 2022
Robotic Grasping from Classical to Modern: A Survey
Robotic Grasping from Classical to Modern: A Survey
Hanbo Zhang
Jian Tang
Shiguang Sun
Xuguang Lan
93
41
0
08 Feb 2022
Sim-to-Real for Soft Robots using Differentiable FEM: Recipes for
  Meshing, Damping, and Actuation
Sim-to-Real for Soft Robots using Differentiable FEM: Recipes for Meshing, Damping, and Actuation
Mathieu Dubied
M. Michelis
Andrew Spielberg
Robert K. Katzschmann
AI4CE
71
33
0
29 Jan 2022
Virtual Elastic Objects
Virtual Elastic Objects
Hsiao-yu Chen
E. Tretschk
Tuur Stuyck
P. Kadlecek
L. Kavan
E. Vouga
Christoph Lassner
73
33
0
12 Jan 2022
Soft Robots Modeling: a Structured Overview
Soft Robots Modeling: a Structured Overview
C. Armanini
F. Boyer
A. Mathew
Christian Duriez
F. Renda
76
156
0
07 Dec 2021
DiffSDFSim: Differentiable Rigid-Body Dynamics With Implicit Shapes
DiffSDFSim: Differentiable Rigid-Body Dynamics With Implicit Shapes
Michael Strecke
Joerg Stueckler
AI4CE
94
19
0
30 Nov 2021
SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional,
  and Incremental Robot Learning
SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning
Jun Lv
Qiaojun Yu
Lin Shao
Wenhai Liu
Wenqiang Xu
Cewu Lu
71
26
0
29 Nov 2021
Robot Learning from Randomized Simulations: A Review
Robot Learning from Randomized Simulations: A Review
Fabio Muratore
Fabio Ramos
Greg Turk
Wenhao Yu
Michael Gienger
Jan Peters
AI4CE
119
83
0
01 Nov 2021
DiffSRL: Learning Dynamical State Representation for Deformable Object
  Manipulation with Differentiable Simulator
DiffSRL: Learning Dynamical State Representation for Deformable Object Manipulation with Differentiable Simulator
Sirui Chen
Yunhao Liu
Jialong Li
Shang Wen Yao
Tingxiang Fan
Jia Pan
AI4CE
72
10
0
24 Oct 2021
Sim2Real for Soft Robotic Fish via Differentiable Simulation
Sim2Real for Soft Robotic Fish via Differentiable Simulation
John Z. Zhang
Yu Zhang
Pingchuan Ma
Elvis Nava
Tao Du
Philip Arm
Wojciech Matusik
Robert K. Katzschmann
73
11
0
30 Sep 2021
Model reduction for the material point method via an implicit neural
  representation of the deformation map
Model reduction for the material point method via an implicit neural representation of the deformation map
Julius Berner
Maurizio M. Chiaramonte
E. Grinspun
Kevin Carlberg
104
15
0
25 Sep 2021
Probabilistic Inference of Simulation Parameters via Parallel
  Differentiable Simulation
Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation
Eric Heiden
Chris Denniston
David Millard
Fabio Ramos
Gaurav Sukhatme
85
22
0
18 Sep 2021
GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients
GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients
Brian Plancher
Sabrina M. Neuman
Radhika Ghosal
S. Kuindersma
Vijay Janapa Reddi
AI4CEPINN
96
16
0
14 Sep 2021
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