相关论文: Fast and Feature-Complete Differentiable Physics f…

We present Jade, a differentiable physics engine for articulated rigid bodies. Jade models contacts as the Linear Complementarity Problem (LCP). Compared to existing differentiable simulations, Jade offers features including…

We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…

We present a framework for the simulation of rigid and deformable bodies in the presence of contact and friction. Our method is based on a non-smooth Newton iteration that solves the underlying nonlinear complementarity problems (NCPs)…

In recent years, an increasing amount of work has focused on differentiable physics simulation and has produced a set of open source projects such as Tiny Differentiable Simulator, Nimble Physics, diffTaichi, Brax, Warp, Dojo and DiffCoSim.…

The incorporation of appropriate inductive bias plays a critical role in learning dynamics from data. A growing body of work has been exploring ways to enforce energy conservation in the learned dynamics by encoding Lagrangian or…

Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them to move or manipulate things. Contact interactions result from complex physical phenomena, that can be mathematically cast as Nonlinear…

Differentiable simulation establishes the mathematical foundation for solving challenging inverse problems in computer graphics and robotics, such as physical system identification and inverse dynamics control. However, rigor in frictional…

Differentiable physics is a powerful tool in computer vision and robotics for scene understanding and reasoning about interactions. Existing approaches have frequently been limited to objects with simple shape or shapes that are known in…

This technical report provides an in-depth evaluation of both established and state-of-the-art methods for simulating constrained rigid multi-body systems with hard-contact dynamics, using formulations of Nonlinear Complementarity Problems…

Differentiable simulators provide an avenue for closing the sim-to-real gap by enabling the use of efficient, gradient-based optimization algorithms to find the simulation parameters that best fit the observed sensor readings. Nonetheless,…

We present a framework for generating convex approximations of complex contact models, incorporating experimentally validated models like Hunt & Crossley coupled with Coulomb's law of friction alongside the principle of maximum dissipation.…

We present the numerical methods and GPU-accelerated implementation underlying a Total Lagrangian finite element framework for finite-deformation flexible multibody dynamics, introduced in the companion paper [1]. The framework supports…

Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…

Differentiable contact kinematics are essential for gradient-based methods in robotics, yet the mapping from robot state to contact distance, location, and normal becomes non-smooth in degenerate configurations of shapes with zero or…

We present a method for efficient differentiable simulation of articulated bodies. This enables integration of articulated body dynamics into deep learning frameworks, and gradient-based optimization of neural networks that operate on…

With the maturation of differentiable physics, its role in various downstream applications: such as model predictive control, robotic design optimization, and neural PDE solvers, has become increasingly important. However, the derivative…

Deep learning-based garment draping has emerged as a promising alternative to traditional Physics-Based Simulation (PBS), yet robust collision handling remains a critical bottleneck. Most existing methods enforce physical validity through…

The multi-contact nonlinear complementarity problem (NCP) is a naturally arising challenge in robotic simulations. Achieving high performance in terms of both accuracy and efficiency remains a significant challenge, particularly in…

Accurately modeling contact behaviors for real-world, near-rigid materials remains a grand challenge for existing rigid-body physics simulators. This paper introduces a data-augmented contact model that incorporates analytical solutions…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…