NeuralSim: Augmenting Differentiable Simulators with Neural Networks

9 November 2020

Papers citing "NeuralSim: Augmenting Differentiable Simulators with Neural Networks"

48 / 48 papers shown

Title
PIN-WM: Learning Physics-INformed World Models for Non-Prehensile Manipulation Wenxuan Li Hang Zhao Zhiyuan Yu Yu Du Qin Zou Ruizhen Hu K. Xu SSL 83 1 0 23 Apr 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 70 0 0 14 Mar 2025
An Real-Sim-Real (RSR) Loop Framework for Generalizable Robotic Policy Transfer with Differentiable Simulation Lu Shi Zifei Shan Shiyu Wang Jinhao Huang Wenhao Zhao Yufei Jia Zike Yan Weibin Gu Guyue Zhou 65 0 0 13 Mar 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
ABPT: Amended Backpropagation through Time with Partially Differentiable Rewards Fanxing Li Fangyu Sun Tianbao Zhang Danping Zou 39 0 0 24 Jan 2025
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation Eliot Xing Vernon Luk Jean Oh 87 0 0 16 Dec 2024
Differentiable Physics-based System Identification for Robotic Manipulation of Elastoplastic Materials Xintong Yang Ze Ji Yu-Kun Lai 55 0 0 01 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
On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer Elie Aljalbout Felix Frank Maximilian Karl Patrick van der Smagt 24 20 0 06 Dec 2023
Simultaneous Learning of Contact and Continuous Dynamics Bibit Bianchini Mathew Halm Michael Posa 38 11 0 18 Oct 2023
Improving Gradient Computation for Differentiable Physics Simulation with Contacts Yaofeng Desmond Zhong Jiequn Han Biswadip Dey Georgia Olympia Brikis 46 3 0 28 Apr 2023
Contact Models in Robotics: a Comparative Analysis Quentin Le Lidec Wilson Jallet Louis Montaut Ivan Laptev Cordelia Schmid Justin Carpentier 33 28 0 13 Apr 2023
3D Human Pose Estimation via Intuitive Physics Shashank Tripathi Lea Müller C. Huang Omid Taheri Michael J. Black Dimitrios Tzionas 3DH 36 69 0 31 Mar 2023
Object Reconfiguration with Simulation-Derived Feasible Actions Yiyuan Lee Wil Thomason Zachary Kingston Lydia E. Kavraki AI4CE 30 3 0 27 Feb 2023
Differentiable Forward Kinematics for TensorFlow 2 Lukas Mölschl Jakob J. Hollenstein J. Piater 28 0 0 24 Jan 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
Single-Level Differentiable Contact Simulation Simon Le Cleac'h Mac Schwager Zachary Manchester Vikas Sindhwani Peter R. Florence Sumeet Singh 31 5 0 13 Dec 2022
Transformer-Based Learned Optimization Erik Gartner Luke Metz Mykhaylo Andriluka C. Freeman C. Sminchisescu 25 11 0 02 Dec 2022
Task-Driven Hybrid Model Reduction for Dexterous Manipulation Wanxin Jin Michael Posa 35 15 0 30 Nov 2022
Optimization-Based Control for Dynamic Legged Robots Patrick M. Wensing Michael Posa Yue Hu Adrien Escande Nicolas Mansard Andrea Del Prete 30 141 0 21 Nov 2022
Differentiable Physics Simulation of Dynamics-Augmented Neural Objects Simon Le Cleac'h Hong-Xing Yu Michelle Guo Taylor A. Howell Ruohan Gao Jiajun Wu Zachary Manchester Mac Schwager AI4CE 35 40 0 17 Oct 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
Thermodynamics of learning physical phenomena Elías Cueto Francisco Chinesta AI4CE 30 22 0 26 Jul 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
Differentiable Dynamics for Articulated 3d Human Motion Reconstruction Erik Gartner Mykhaylo Andriluka Erwin Coumans C. Sminchisescu 3DH 51 40 0 24 May 2022
Certifiable Robot Design Optimization using Differentiable Programming Charles Dawson Chuchu Fan 25 7 0 22 Apr 2022
Leveraging Reward Gradients For Reinforcement Learning in Differentiable Physics Simulations Sean Gillen Katie Byl AI4CE 23 3 0 06 Mar 2022
Dojo: A Differentiable Physics Engine for Robotics Taylor A. Howell Simon Le Cleac'h Jan Brüdigam J. Zico Kolter Mac Schwager Zachary Manchester 27 35 0 02 Mar 2022
Parameter Identification and Motion Control for Articulated Rigid Body Robots Using Differentiable Position-based Dynamics Fei Liu Ming Li Jingpei Lu Entong Su Michael C. Yip AI4CE 27 6 0 15 Jan 2022
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
Collective Intelligence for Deep Learning: A Survey of Recent Developments David R Ha Yu Tang AI4CE 31 69 0 29 Nov 2021
Gradients are Not All You Need Luke Metz C. Freeman S. Schoenholz Tal Kachman 30 93 0 10 Nov 2021
A research framework for writing differentiable PDE discretizations in JAX A. Stanziola Simon Arridge B. Cox B. Treeby 32 8 0 09 Nov 2021
Dynamic Visual Reasoning by Learning Differentiable Physics Models from Video and Language Mingyu Ding Zhenfang Chen Tao Du Ping Luo J. Tenenbaum Chuang Gan VGen PINN OCL 38 74 0 28 Oct 2021
Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation Eric Heiden Chris Denniston David Millard Fabio Ramos Gaurav Sukhatme 27 21 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 45 15 0 14 Sep 2021
Follow the Gradient: Crossing the Reality Gap using Differentiable Physics (RealityGrad) J. Collins Ross Brown Jurgen Leitner David Howard AI4CE 32 4 0 10 Sep 2021
Fast Contact-Implicit Model-Predictive Control Simon Le Cleac'h Taylor A. Howell Shuo Yang Chia-Yen Lee John Z. Zhang Arun L. Bishop Mac Schwager Zachary Manchester 92 80 0 12 Jul 2021
Brax -- A Differentiable Physics Engine for Large Scale Rigid Body Simulation C. Freeman Erik Frey Anton Raichuk Sertan Girgin Igor Mordatch Olivier Bachem 48 351 0 24 Jun 2021
Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation Alex Church John Lloyd R. Hadsell Nathan Lepora 35 50 0 16 Jun 2021
DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting Eric Heiden Miles Macklin Yashraj S. Narang Dieter Fox Animesh Garg Fabio Ramos 20 92 0 25 May 2021
Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra Shubham Singh R. Russell Patrick M. Wensing 20 23 0 11 May 2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model Zhaoming Xie Xingye Da Buck Babich Animesh Garg M. van de Panne 24 66 0 20 Apr 2021
Fundamental Challenges in Deep Learning for Stiff Contact Dynamics Mihir Parmar Mathew Halm Michael Posa 29 36 0 29 Mar 2021
Physics-Integrated Variational Autoencoders for Robust and Interpretable Generative Modeling Naoya Takeishi Alexandros Kalousis DRL AI4CE 35 54 0 25 Feb 2021
Extending Lagrangian and Hamiltonian Neural Networks with Differentiable Contact Models Yaofeng Desmond Zhong Biswadip Dey Amit Chakraborty 52 35 0 12 Feb 2021
Encoding Physical Constraints in Differentiable Newton-Euler Algorithm Giovanni Sutanto Austin S. Wang Yixin Lin Mustafa Mukadam Gaurav Sukhatme Akshara Rai Franziska Meier 88 54 0 24 Jan 2020
Interaction Networks for Learning about Objects, Relations and Physics Peter W. Battaglia Razvan Pascanu Matthew Lai Danilo Jimenez Rezende Koray Kavukcuoglu AI4CE OCL PINN GNN 283 1,401 0 01 Dec 2016