Showing cs.ROShow all
3 papers · 1 filter
cs.RO2024
Differentiable Contact Dynamics for Stable Object Placement Under Geometric Uncertainties
Linfeng Li, Gang Yang, Lin Shao +1
From serving a cup of coffee to positioning mechanical parts during assembly, stable object placement is a crucial skill for future robots. It becomes particularly challenging unde…
cs.RO2023
SoftMAC: Differentiable Soft Body Simulation with Forecast-based Contact Model and Two-way Coupling with Articulated Rigid Bodies and Clothes
Min Liu, Gang Yang, Siyuan Luo +1
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of so…
cs.RO2023
Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact
Gang Yang, Siyuan Luo, Lin Shao
We present Jade, a differentiable physics engine for articulated rigid bodies. Jade models contacts as the Linear Complementarity Problem (LCP). Compared to existing differentiable…