Dojo: A Differentiable Physics Engine for Robotics

Dojo: A Differentiable Physics Engine for Robotics

2 March 2022

Taylor A. Howell

Simon Le Cleac'h

Jan Brüdigam

J. Zico Kolter

Zachary Manchester

Papers citing "Dojo: A Differentiable Physics Engine for Robotics"

15 / 15 papers shown

Title
Dexterous Contact-Rich Manipulation via the Contact Trust Region H.J. Terry Suh Tao Pang Tong Zhao Russ Tedrake 46 4 0 04 May 2025
A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI Lik Hang Kenny Wong Xueyang Kang Kaixin Bai Jianwei Zhang 63 0 0 01 May 2025
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo John Z. Zhang Taylor A. Howell Zeji Yi Chaoyi Pan Guanya Shi Guannan Qu Tom Erez Yuval Tassa Zachary Manchester 62 2 0 06 Mar 2025
ABPT: Amended Backpropagation through Time with Partially Differentiable Rewards Fanxing Li Fangyu Sun Tianbao Zhang Danping Zou 39 0 0 24 Jan 2025
Optimal Virtual Model Control for Robotics: Design and Tuning of Passivity-Based Controllers Daniel Larby F. Forni 62 1 0 20 Jan 2025
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation Eliot Xing Vernon Luk Jean Oh 97 0 0 16 Dec 2024
Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation Xuanlin Li Tong Zhao Xinghao Zhu Jiuguang Wang Tao Pang Kuan Fang 90 4 0 03 Dec 2024
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans? Yuki Shirai Tong Zhao H.J. Terry Suh Huaijiang Zhu Xinpei Ni Jiuguang Wang Max Simchowitz Tao Pang 68 3 0 10 Nov 2024
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation Wanxin Jin 61 6 0 14 Aug 2024
Single-Level Differentiable Contact Simulation Simon Le Cleac'h Mac Schwager Zachary Manchester Vikas Sindhwani Peter R. Florence Sumeet Singh 33 5 0 13 Dec 2022
Differentiable Collision Detection for a Set of Convex Primitives K. Tracy Taylor A. Howell Zachary Manchester 44 44 0 01 Jul 2022
Linear-Time Contact and Friction Dynamics in Maximal Coordinates using Variational Integrators Jan Brüdigam Jana Janeva Stefan Sosnowski Sandra Hirche 29 3 0 15 Sep 2021
Bundled Gradients through Contact via Randomized Smoothing H.J. Terry Suh Tao Pang Russ Tedrake 89 53 0 11 Sep 2021
Trajectory Optimization with Optimization-Based Dynamics Taylor A. Howell Simon Le Cleac'h Sumeet Singh Peter R. Florence Zachary Manchester Vikas Sindhwani AI4CE 92 27 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 97 80 0 12 Jul 2021