2 papers
cs.RO2026
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…
cs.GR2026
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…