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cs.RO2025
Differentiable Simulation of Hard Contacts with Soft Gradients for Learning and Control
Anselm Paulus, A. René Geist, Pierre Schumacher +3
Contact forces introduce discontinuities into robot dynamics that severely limit the use of simulators for gradient-based optimization. Penalty-based simulators such as MuJoCo, sof…
cs.RO2025
The Role of Tactile Sensing for Learning Reach and Grasp
Boya Zhang, Iris Andrussow, Andreas Zell +1
Stable and robust robotic grasping is essential for current and future robot applications. In recent works, the use of large datasets and supervised learning has enhanced speed and…