10 papers
DiagGen: Agentic Generation of Deformable Assets with Sim-based Diagnostics for Robotic Simulation
Guanxiong Chen, Yiduo Qu, Qianjun Xia +12
While simulation-ready deformable assets are essential for in-silico robotic manipulation tasks, existing generation frameworks typically assess physical plausibility after generat…
Agentic Real2Sim: Physics-based World Modeling with Vision-Language Agents
Guanxiong Chen, Qianjun Xia, Jiawei Peng +24
Real-to-sim conversion for robotic interaction with objects remains labor-intensive because it requires more than visual reconstruction: a streamlined real2sim process must recover…
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…
Real-IKEA: Physical Fidelity is the Prerequisite for Robust Manipulation
Kunqi Xu, Zhenhao Huang, Siyuan Luo +2
Robotic manipulation robustness often founders on the physics gap between simplified simulations and the resistance-laden real world. In this work, we emphasize that physical reali…
DiffPhD: A Unified Differentiable Solver for Projective Heterogeneous Materials in Elastodynamics with Contact-Rich GPU-Acceleration
Shih-Yu Lai, Sung-Han Tien, Jui-I Huang +9
Differentiable simulation of soft bodies is a foundation for system identification, trajectory optimization, and Real2Sim transfer. Yet, existing methods such as the differentiable…
FLASH: Fast Learning via GPU-Accelerated Simulation for High-Fidelity Deformable Manipulation in Minutes
Siyuan Luo, Bingyang Zhou, Chong Zhang +9
Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck…
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…
Few-Shot Neural Differentiable Simulator: Real-to-Sim Rigid-Contact Modeling
Zhenhao Huang, Siyuan Luo, Bingyang Zhou +3
Accurate physics simulation is essential for robotic learning and control, yet analytical simulators often fail to capture complex contact dynamics, while learning-based simulators…
Soft Responsive Materials Enhance Humanoid Safety
Chunzheng Wang, Yiyuan Zhang, Annan Tang +12
Humanoid robots are envisioned as general-purpose platforms in human-centered environments, yet their deployment is limited by vulnerability to falls and the risks posed by rigid m…
Fast But Accurate: A Real-Time Hyperelastic Simulator with Robust Frictional Contact
Ziqiu Zeng, Siyuan Luo, Fan Shi +1
We present a GPU-friendly framework for real-time implicit simulation of elastic material in the presence of frictional contacts. The integration of hyperelasticity, non-interpenet…