23 citations · 24 across the 9 of their papers we have counts for
5 papers · 1 filter
DiffGIPC: Differentiable Mixed-Coordinate Contact Dynamics on GPU
Kemeng Huang, Bowen Ren, Xinyu Lu +2
Contact-rich inverse problems require efficient gradients and reliable enforcement of non-penetration. Existing differentiable methods provide fast simulation and rigid-deformable…
PhyVisGen: Physically and Visually High-Fidelity Robotic Manipulation Data Generation
Yu Zheng, Qiyu Feng, Yixin Wu +6
Large-scale manipulation demonstrations are essential for learning robust visuomotor policies, yet real-world data collection is expensive and difficult to scale. Simulation offers…
YASPS: A Symbolic Framework for Extensible, High-Performance IPC Simulation
Xuan Tang, Kemeng Huang, Gilbert Bernstein +2
Incremental Potential Contact (IPC) enables robust, contact-rich simulation by casting elasticity and contact as a single energy minimization problem, but high-performance IPC pipe…
AGIPC: Adaptive In-Solve Algebraic Coarsening for GPU IPC
Xuan Wang, Zhaofeng Luo, Minchen Li +2
Implicit time integration is key to robustly simulating stiff materials and large deformations, but its performance is often dominated by repeatedly solving large linear systems. A…
An Efficient Multilevel Preconditioned Nonlinear Conjugate Gradient Method for Incremental Potential Contact
Yu Zhang, Xing Shen, Kemeng Huang +5
Incremental Potential Contact (IPC) guarantees intersection-free simulation but suffers from high computational costs due to the expensive Hessian assembly and linear solves requir…