18 papers
Differentiate the Solver, Not the Equation: Reverse-Sweep Adjoints for Block Implicit Simulation
Lei Shu, Ying Jiang, Kui Wu +3
Differentiable simulation is a key component in learning, control, and inverse problems, where gradients through nonlinear implicit solvers are required. Existing approaches either…
Curly Hair Simulation using Curly Finite Elements
Xinming Pei, Zhendong Wang, Lei Lan +3
Realistic simulation of curly hair is challenging due to the tight coupling between macroscopic strand deformation and high-frequency geometric details such as waves and helices. I…
TacCoRL: Integrating Tactile Feedback into VLA via Simulation
Siyu Ma, Yuqi Liang, Chang Yu +5
Vision-language-action (VLA) models provide strong visual, language, and action priors for robot manipulation, but visual observations alone often miss the local contact state requ…
Stochastic Mean-Field LQ Stackelberg Differential Games with Random Coefficients: Theory and a Deep FBSDE Picard Solver
Ying Yang, Jie Xiong, Zhouyu Wang
This paper studies a stochastic mean-field linear-quadratic Stackelberg differential game with random coefficients. The interaction between mean-field terms and random coefficients…
WorldParticle: Unified World Simulation of Lagrangian Particle Dynamics via Transformer
Caoliwen Wang, Minghao Guo, Siyuan Chen +13
A unified simulator that can model diverse physical phenomena without solver-specific redesign is a long-standing goal across simulation science. We present a learning-based partic…
Distributed Affine Body Dynamics with Adaptive Consensus
Jiafeng Liu, Wenhui Zhou, Xinming Pei +5
Affine Body Dynamics (ABD) within the Incremental Potential Contact (IPC) framework provides accurate simulation of extremely stiff solids exhibiting near-rigid behavior, with stri…