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
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 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 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 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 S. Rezaei-Shoshtari Hanna Yurchyk Scott Fujimoto Doina Precup David Meger 150 0 0 03 Jan 2025
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 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 Luke Strgar David Matthews Tyler Hummer Sam Kriegman 96 3 0 23 May 2024
Implicit Neural Representation for Physics-driven Actuated Soft Bodies Lingchen Yang Byungsoo Kim Gaspard Zoss Baran Gözcü Markus Gross B. Solenthaler AI4CE 3DH 57 19 0 26 Jan 2024
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 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 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 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 Chen Liang Xifeng Gao Kui Wu Zherong Pan 56 2 0 03 Nov 2023
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 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 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 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 Jeonghoon Lee M. Michelis Robert K. Katzschmann Zachary Manchester 61 5 0 17 Jan 2023
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 Egor Larionov Marie-Lena Eckert K. Wolff Tuur Stuyck 61 9 0 17 Dec 2022
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 Ci Chen Pingyu Xiang Haojian Lu Yue Wang R. Xiong OffRL 84 3 0 14 Sep 2022
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 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 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 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 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 Douglas Blackiston Sam Kriegman Josh Bongard Michael Levin AI4CE 70 24 0 02 Jul 2022
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 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 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 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 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 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 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 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 Charles B. Schaff Audrey Sedal Matthew R. Walter 67 26 0 09 Feb 2022
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 Mathieu Dubied M. Michelis Andrew Spielberg Robert K. Katzschmann AI4CE 71 33 0 29 Jan 2022
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 C. Armanini F. Boyer A. Mathew Christian Duriez F. Renda 76 156 0 07 Dec 2021
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 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 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 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 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 Julius Berner Maurizio M. Chiaramonte E. Grinspun Kevin Carlberg 104 15 0 25 Sep 2021
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 Brian Plancher Sabrina M. Neuman Radhika Ghosal S. Kuindersma Vijay Janapa Reddi AI4CE PINN 96 16 0 14 Sep 2021