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Differentiable physics has recently been shown as a powerful tool for solving soft-body manipulation tasks.
Constructing force- closure grasps
Van-Duc Nguyen · 1988
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Finding antipodal point grasps on irregularly shaped objects
I-Ming Chen and J.W. Burdick · 1993
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Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Lydia E Kavraki, Petr Svestka, J-C Latombe, and Mark H Overmars · 1996
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The cross-entropy method for combinatorial and continuous optimization
Reuven Rubinstein · 1999
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Indirect simultaneous positioning of deformable objects with multi-pinching fingers based on an uncertain model
Shinichi Hirai and Takahiro Wada · 2000
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Rrt-connect: An efficient approach to single-query path planning
James J Kuffner and Steven M LaValle · 2000
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Robust manipulation of deformable objects by a simple pid feedback
Takahiro Wada, Shinichi Hirai, Sadao Kawamura, and Norimasa Kamiji · 2001
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Graspit! a versatile simulator for robotic grasping
A.T. Miller and P.K. Allen · 2004
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Motion planning for robotic manipulation of deformable linear objects
Mitul Saha and Pekka Isto · 2006
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Knotting/unknotting manipulation of deformable linear objects
Hidefumi Wakamatsu, Eiji Arai, and Shinichi Hirai · 2006
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Manipulation planning for deformable linear objects
Mitul Saha and Pekka Isto · 2007
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A system for robotic heart surgery that learns to tie knots using recurrent neural networks
Hermann Mayer, Faustino Gomez, Daan Wierstra, Istvan Nagy, Alois Knoll, and Jürgen Schmidhuber · 2008
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Deformation planning for robotic soft tissue manipulation
Jerzy Smolen and Alexandru Patriciu · 2009
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An overview of 3d object grasp synthesis algorithms
A. Sahbani, S. El-Khoury, and P. Bidaud · 2011
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Semantic grasping: Planning robotic grasps functionally suitable for an object manipulation task
Hao Dang and Peter K. Allen · 2012
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Soft material modeling for robotic manipulation
Nabil Essahbi, Belhassen Chedli Bouzgarrou, and Grigore Gogu · 2012
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Discovery of complex behaviors through contact-invariant optimization
Igor Mordatch, Emanuel Todorov, and Zoran Popović · 2012
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Data-driven grasp synthesis—a survey
Jeannette Bohg, Antonio Morales, Tamim Asfour, and Danica Kragic · 2013
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Interpreting and executing recipes with a cooking robot
Mario Bollini, Stefanie Tellex, Tyler Thompson, Nicholas Roy, and Daniela Rus · 2013
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Sinkhorn distances: Lightspeed computation of optimal transport
Marco Cuturi · 2013
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Playing atari with deep reinforcement learning
Volodymyr Mnih, Koray Kavukcuoglu, David Silver, Alex Graves, Ioannis Antonoglou, Daan Wierstra, and Martin Riedmiller · 2013
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A direct method for trajectory optimization of rigid bodies through contact
Michael Posa, Cecilia Cantu, and Russ Tedrake · 2014
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Learning from multiple demonstrations using trajectory-aware non-rigid registration with applications to deformable object manipulation
Alex X Lee, Abhishek Gupta, Henry Lu, Sergey Levine, and Pieter Abbeel · 2015
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Convolutional wasserstein distances: Efficient optimal transportation on geometric domains
Justin Solomon, Fernando de Goes, Gabriel Peyré, Marco Cuturi, Adrian Butscher, Andy Nguyen, Tao Du, and Leonidas Guibas · 2015
Cited alongside, same era.
A differentiable physics engine for deep learning in robotics
Jonas Degrave, Michiel Hermans, Joni Dambre, et al · 2016
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Automatic differentiation of rigid body dynamics for optimal control and estimation
Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini, and Jonas Buchli · 2017
Cited alongside, same era.
Soft actor-critic: Off-policy maximum entropy deep reinforcement learning with a stochastic actor
Tuomas Haarnoja, Aurick Zhou, Pieter Abbeel, and Sergey Levine · 2017
Cited alongside, same era.
Add: Analytically differentiable dynamics for multi-body systems with frictional contact
Moritz Geilinger, David Hahn, Jonas Zehnder, Moritz Bächer, Bernhard Thomaszewski, and Stelian Coros · 2020
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Local trajectory stabilization for dexterous manipulation via piecewise affine approximations
Weiqiao Han and Russ Tedrake · 2020
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Augmenting differentiable simulators with neural networks to close the sim2real gap
Eric Heiden, David Millard, Erwin Coumans, and Gaurav S Sukhatme · 2020
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Difftaichi: Differentiable programming for physical simulation
Yuanming Hu, Luke Anderson, Tzu-Mao Li, Qi Sun, Nathan Carr, Jonathan Ragan-Kelley, and Frédo Durand · 2020
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Softgym: Benchmarking deep reinforcement learning for deformable object manipulation
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Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, and Ken Goldberg · 2017
Cited alongside, same era.
Combining self-supervised learning and imitation for vision-based rope manipulation
Ashvin Nair, Dian Chen, Pulkit Agrawal, Phillip Isola, Pieter Abbeel, Jitendra Malik, and Sergey Levine · 2017
Cited alongside, same era.
Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
Cited alongside, same era.
Analytical derivatives of rigid body dynamics algorithms
Justin Carpentier and Nicolas Mansard · 2018
Cited alongside, same era.
End-to-end differentiable physics for learning and control
Filipe de Avila Belbute-Peres, Kevin Smith, Kelsey Allen, Josh Tenenbaum, and J Zico Kolter · 2018
Cited alongside, same era.
Addressing function approximation error in actor-critic methods
Scott Fujimoto, Herke Hoof, and David Meger · 2018
Cited alongside, same era.
A moving least squares material point method with displacement discontinuity and two-way rigid body coupling
Yuanming Hu, Yu Fang, Ziheng Ge, Ziyin Qu, Yixin Zhu, Andre Pradhana, and Chenfanfu Jiang · 2018
Cited alongside, same era.
Learning particle dynamics for manipulating rigid bodies, deformable objects, and fluids
Yunzhu Li, Jiajun Wu, Russ Tedrake, Joshua B Tenenbaum, and Antonio Torralba · 2018
Cited alongside, same era.
Xingyu Lin, Yufei Wang, Jake Olkin, and David Held · 2020
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Manipulating deformable objects by interleaving prediction, planning, and control
Dale McConachie, Andrew Dobson, Mengyao Ruan, and Dmitry Berenson · 2020
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Automatic differentiation and continuous sensitivity analysis of rigid body dynamics
David Millard, Eric Heiden, Shubham Agrawal, and Gaurav S Sukhatme · 2020
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gradsim: Differentiable simulation for system identification and visuomotor control
J Krishna Murthy, Miles Macklin, Florian Golemo, Vikram Voleti, Linda Petrini, Martin Weiss, Breandan Considine, Jérôme Parent-Lévesque, Kevin Xie, Kenny Erleben, et al · 2020
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Scalable differentiable physics for learning and control
Yi-Ling Qiao, Junbang Liang, Vladlen Koltun, and Ming C Lin · 2020
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S4g: Amodal single-view single-shot se(3) grasp detection in cluttered scenes
Yuzhe Qin, Rui Chen, Hao Zhu, Meng Song, Jing Xu, and Hao Su · 2020
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Learning to manipulate deformable objects without demonstrations, 2020
Yilin Wu, Wilson Yan, Thanard Kurutach, Lerrel Pinto, and Pieter Abbeel · 2020
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Self-supervised learning of state estimation for manipulating deformable linear objects
Mengyuan Yan, Yilin Zhu, Ning Jin, and Jeannette Bohg · 2020
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Diffpd: Differentiable projective dynamics with contact
Tao Du, Kui Wu, Pingchuan Ma, Sebastien Wah, Andrew Spielberg, Daniela Rus, and Wojciech Matusik · 2021
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Threedworld: A platform for interactive multi-modal physical simulation
Chuang Gan, Jeremy Schwartz, Seth Alter, Martin Schrimpf, James Traer, Julian De Freitas, Jonas Kubilius, Abhishek Bhandwaldar, Nick Haber, Megumi Sano, et al · 2021
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Flingbot: The unreasonable effectiveness of dynamic manipulation for cloth unfolding
Huy Ha and Shuran Song · 2021
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Disect: A differentiable simulation engine for autonomous robotic cutting
Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, and Fabio Ramos · 2021
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Ptr: A benchmark for part-based conceptual, relational, and physical reasoning
Yining Hong, Li Yi, Joshua B Tenenbaum, Antonio Torralba, and Chuang Gan · 2021
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Visuospatial foresight for physical sequential fabric manipulation
Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, and Ken Goldberg · 2021
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Plasticinelab: A soft-body manipulation benchmark with differentiable physics
Zhiao Huang, Yuanming Hu, Tao Du, Siyuan Zhou, Hao Su, Joshua B Tenenbaum, and Chuang Gan · 2021
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Learning visible connectivity dynamics for cloth smoothing
Xingyu Lin, Yufei Wang, and David Held · 2021
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Diffaqua: A differentiable computational design pipeline for soft underwater swimmers with shape interpolation
Pingchuan Ma, Tao Du, John Z Zhang, Kui Wu, Andrew Spielberg, Robert K Katzschmann, and Wojciech Matusik · 2021
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Fast and feature-complete differentiable physics for articulated rigid bodies with contact
Keenon Werling, Dalton Omens, Jeongseok Lee, Ioannis Exarchos, and C Karen Liu · 2021
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