3 papers
cs.RO2026
Enabling Robust Cloth Manipulation via Inference-Time Simulator-in-the-Loop Refinement
Xin Liu, Yulin Li, Ziming Li +7
Simulator-in-the-loop optimization offers a promising inference-time mechanism for robot manipulation. It uses a physical simulator as a backend rollout engine to evaluate candidat…
cs.RO2026
One-Step Model Predictive Path Integral for Manipulator Motion Planning Using Configuration Space Distance Fields
Yulin Li, Tetsuro Miyazaki, Kenji Kawashima
Motion planning for robotic manipulators is a fundamental problem in robotics. Classical optimization-based methods typically rely on the gradients of signed distance fields (SDFs)…
cs.GR2026
Fast and Reliable Gradients for Deformables Across Frictional Contact Regimes
Ziqiu Zeng, Gang Yang, Zhenhao Huang +5
Differentiable simulation establishes the mathematical foundation for solving challenging inverse problems in computer graphics and robotics, such as physical system identification…