相关论文: DiffTaichi: Differentiable Programming for Physica…

Over the past few years, robotics simulators have largely improved in efficiency and scalability, enabling them to generate years of simulated data in a few hours. Yet, efficiently and accurately computing the simulation derivatives remains…

We introduce DiffPhysCam, a differentiable camera simulator designed to support robotics and embodied AI applications by enabling gradient-based optimization in visual perception pipelines. Generating synthetic images that closely mimic…

Optimization of beamlines and lattices is a common problem in accelerator physics, which is usually solved with semi-analytical methods and numerical optimization routines. However, these are usually of the gradient-free or…

Cloth simulation has wide applications in computer animation, garment design, and robot-assisted dressing. This work presents a differentiable cloth simulator whose additional gradient information facilitates cloth-related applications. Our…

Robotic cutting of soft materials is critical for applications such as food processing, household automation, and surgical manipulation. As in other areas of robotics, simulators can facilitate controller verification, policy learning, and…

Despite decades of advancements, the simulation of fluids remains one of the most challenging areas of in scientific computing. Supported by the necessity of gradient information in deep learning, differentiable simulators have emerged as…

Differentiable programming is a fresh programming paradigm which composes parameterized algorithmic components and trains them using automatic differentiation (AD). The concept emerges from deep learning but is not only limited to training…

CPU simulators are useful tools for modeling CPU execution behavior. However, they suffer from inaccuracies due to the cost and complexity of setting their fine-grained parameters, such as the latencies of individual instructions. This…

The computational design of soft underwater swimmers is challenging because of the high degrees of freedom in soft-body modeling. In this paper, we present a differentiable pipeline for co-designing a soft swimmer's geometry and controller.…

Machine learning has emerged as a powerful solution to the modern challenges in accelerator physics. However, the limited availability of beam time, the computational cost of simulations, and the high-dimensionality of optimisation problems…

Building differentiable simulations of physical processes has recently received an increasing amount of attention. Specifically, some efforts develop differentiable robotic physics engines motivated by the computational benefits of merging…

Developers of Molecular Dynamics (MD) codes face significant challenges when adapting existing simulation packages to new hardware. In a continuously diversifying hardware landscape it becomes increasingly difficult for scientists to be…

We introduce DiffBMP, a scalable and efficient differentiable rendering engine for a collection of bitmap images. Our work addresses a limitation that traditional differentiable renderers are constrained to vector graphics, given that most…

Differentiable simulation is a promising toolkit for fast gradient-based policy optimization and system identification. However, existing approaches to differentiable simulation have largely tackled scenarios where obtaining smooth…

This letter presents a method to reduce the computational demands of including second-order dynamics sensitivity information into the Differential Dynamic Programming (DDP) trajectory optimization algorithm. An approach to DDP is developed…

Differentiable programming is the combination of classical neural networks modules with algorithmic ones in an end-to-end differentiable model. These new models, that use automatic differentiation to calculate gradients, have new learning…

This paper introduces a novel CUDA-enabled PyTorch-based framework designed for the gradient-based optimization of such reconfigurable electromagnetic structures with electrically tunable parameters. Traditional optimization techniques for…

We present a differentiable soft-body physics simulator that can be composed with neural networks as a differentiable layer. In contrast to other differentiable physics approaches that use explicit forward models to define state…

We present DiffXPBD, a novel and efficient analytical formulation for the differentiable position-based simulation of compliant constrained dynamics (XPBD). Our proposed method allows computation of gradients of numerous parameters with…

The performance of robots in high-level tasks depends on the quality of their lower-level controller, which requires fine-tuning. However, the intrinsically nonlinear dynamics and controllers make tuning a challenging task when it is done…