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
System Identification and Control of Front-Steered Ackermann Vehicles through Differentiable Physics B. M. Gonultas Pratik Mukherjee O. G. Poyrazoglu Volkan Isler 24 3 0 07 Aug 2023
UniSim: A Neural Closed-Loop Sensor Simulator Ze Yang Yun Chen Jingkang Wang S. Manivasagam Wei-Chiu Ma A. Yang R. Urtasun 54 188 0 03 Aug 2023
Physics-Informed Machine Learning for Modeling and Control of Dynamical Systems Truong X. Nghiem Ján Drgoňa Colin N. Jones Zoltán Nagy Roland Schwan ... J. Paulson Andrea Carron Melanie Zeilinger Wenceslao Shaw-Cortez D. Vrabie PINN AI4CE 42 30 0 24 Jun 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 30 34 0 13 Jun 2023
Adaptive Robotic Information Gathering via Non-Stationary Gaussian Processes Weizhe (Wesley) Chen Roni Khardon Lantao Liu 32 9 0 02 Jun 2023
Learning Neural Constitutive Laws From Motion Observations for Generalizable PDE Dynamics Pingchuan Ma Julius Berner B. Deng J. Tenenbaum Tao Du Chuang Gan Wojciech Matusik PINN AI4CE 103 34 0 27 Apr 2023
Inferring Fluid Dynamics via Inverse Rendering Jinxian Liu Ye Chen Bingbing Ni Jiyao Mao Zhenbo Yu 3DH AI4CE 23 5 0 10 Apr 2023
DiffMimic: Efficient Motion Mimicking with Differentiable Physics Jiawei Ren Cunjun Yu Siwei Chen Xiao Ma Liang Pan Ziwei Liu 36 19 0 06 Apr 2023
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets Isabella Huang Yashraj S. Narang R. Bajcsy Fabio Ramos Tucker Hermans Dieter Fox 20 10 0 28 Mar 2023
DexDeform: Dexterous Deformable Object Manipulation with Human Demonstrations and Differentiable Physics Sizhe Li Zhiao Huang Tao Chen Tao Du Hao Su J. Tenenbaum Chuang Gan 86 19 0 27 Mar 2023
SoftZoo: A Soft Robot Co-design Benchmark For Locomotion In Diverse Environments Tsun-Hsuan Wang Pingchuan Ma Andrew Spielberg Zhou Xian Hao Zhang J. Tenenbaum Daniela Rus Chuang Gan 39 24 0 16 Mar 2023
Domain Randomization for Robust, Affordable and Effective Closed-loop Control of Soft Robots Gabriele Tiboni Andrea Protopapa Tatiana Tommasi Giuseppe Averta 22 5 0 07 Mar 2023
RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects Zhenjia Xu Zhou Xian Xingyu Lin Cheng Chi Zhiao Huang Chuang Gan Shuran Song 28 27 0 22 Feb 2023
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications Jeonghoon Lee M. Michelis Robert K. Katzschmann Zachary Manchester 27 4 0 17 Jan 2023
DiffXPBD : Differentiable Position-Based Simulation of Compliant Constraint Dynamics Tuur Stuyck Hsiao-yu Chen 30 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 24 9 0 17 Dec 2022
DaXBench: Benchmarking Deformable Object Manipulation with Differentiable Physics Siwei Chen Yiqing Xu Cunjun Yu Linfeng Li Xiao Ma Zhongwen Xu David Hsu AI4CE 31 16 0 24 Oct 2022
NeuPhysics: Editable Neural Geometry and Physics from Monocular Videos Yi-Ling Qiao Alexander Gao Ming-Chyuan Lin 3DH 82 38 0 22 Oct 2022
Deep Inventory Management Dhruv Madeka Kari Torkkola Carson Eisenach Anna Luo Dean Phillips Foster Sham M. Kakade BDL 45 15 0 06 Oct 2022
Fluidic Topology Optimization with an Anisotropic Mixture Model Yifei Li Tao Du Sangeetha Grama Srinivasan Kui Wu Bo Zhu Eftychios Sifakis Wojciech Matusik 41 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 27 3 0 14 Sep 2022
Neural Approaches to Co-Optimization in Robotics Charles B. Schaff 34 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 24 67 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 28 5 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 11 1 0 19 Jul 2022
Automatic Quantization for Physics-Based Simulation Jiafeng Liu Haoyang Shi Siyuan Zhang Yin Yang Chongyang Ma Weiwei Xu MQ 19 0 0 11 Jul 2022
Biological Robots: Perspectives on an Emerging Interdisciplinary Field Douglas Blackiston Sam Kriegman Josh Bongard Michael Levin AI4CE 28 25 0 02 Jul 2022
Rethinking Optimization with Differentiable Simulation from a Global Perspective Rika Antonova Jingyun Yang Krishna Murthy Jatavallabhula Jeannette Bohg 83 32 0 28 Jun 2022
Complex Locomotion Skill Learning via Differentiable Physics Yu Fang Jiancheng Liu Mingrui Zhang Jiasheng Zhang Yi Ma Minchen Li Yuanming Hu Chenfanfu Jiang Tiantian Liu 28 5 0 06 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 35 19 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 29 25 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 25 26 0 05 May 2022
Differentiable Simulation of Soft Multi-body Systems Yi-Ling Qiao Junbang Liang V. Koltun Ming-Chyuan Lin AI4CE 30 40 0 03 May 2022
Accelerated Policy Learning with Parallel Differentiable Simulation Jie Xu Viktor Makoviychuk Yashraj S. Narang Fabio Ramos Wojciech Matusik Animesh Garg Miles Macklin 24 86 0 14 Apr 2022
DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects Priya Sundaresan Rika Antonova Jeannette Bohg 3DPC 39 34 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 35 72 0 31 Mar 2022
Fast Aquatic Swimmer Optimization with Differentiable Projective Dynamics and Neural Network Hydrodynamic Models Elvis Nava John Z. Zhang M. Michelis Tao Du Pingchuan Ma Benjamin Grewe Wojciech Matusik Robert K. Katzschmann 32 11 0 30 Mar 2022
DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting Eric Heiden Miles Macklin Yashraj S. Narang Dieter Fox Animesh Garg Fabio Ramos 28 10 0 19 Mar 2022
ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation Bokui Shen Zhenyu Jiang Chris Choy Leonidas J. Guibas Silvio Savarese Anima Anandkumar Yuke Zhu AI4CE 19 41 0 14 Mar 2022
Collision-Aware Fast Simulation for Soft Robots by Optimization-Based Geometric Computing Guoxin Fang Yingjun Tian Andrew Weightman Charlie C. L. Wang 16 4 0 03 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 30 26 0 09 Feb 2022
Robotic Grasping from Classical to Modern: A Survey Hanbo Zhang Jian Tang Shiguang Sun Xuguang Lan 37 39 0 08 Feb 2022
Fine-grained differentiable physics: a yarn-level model for fabrics Deshan Gong Zhanxing Zhu A. Bulpitt He Wang AI4CE 48 10 0 01 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 13 33 0 29 Jan 2022
Virtual Elastic Objects Hsiao-yu Chen E. Tretschk Tuur Stuyck P. Kadlecek L. Kavan E. Vouga Christoph Lassner 19 31 0 12 Jan 2022
Soft Robots Modeling: a Structured Overview C. Armanini F. Boyer A. Mathew Christian Duriez F. Renda 11 141 0 07 Dec 2021
DiffSDFSim: Differentiable Rigid-Body Dynamics With Implicit Shapes Michael Strecke Joerg Stueckler AI4CE 24 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 33 24 0 29 Nov 2021
What Robot do I Need? Fast Co-Adaptation of Morphology and Control using Graph Neural Networks K. Luck Roberto Calandra M. Mistry AI4CE 30 3 0 03 Nov 2021
Robot Learning from Randomized Simulations: A Review Fabio Muratore Fabio Ramos Greg Turk Wenhao Yu Michael Gienger Jan Peters AI4CE 18 80 0 01 Nov 2021