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…