Differentiable Simulation of Soft Multi-body Systems

Yi-Ling Qiao, Junbang Liang, Vladlen Koltun, Ming C. Lin

[Paper] [Code]

Updates

The C++ backend simulator files are in ./sim/ and ./utils/. We will soon update more demos and documentations.

Our Related Repos

Differentiable Soft Body Dynamics (this repo) Code Paper Differentiable Simulation of Soft Multi-body Systems. Yi-Ling Qiao, Junbang Liang, Vladlen Koltun, Ming C. Lin. (Neurips 2021)

Differentiable Articulated Body Dynamics Code Paper Efficient Differentiable Simulation of Articulated Bodies. Yi-Ling Qiao, Junbang Liang, Vladlen Koltun, Ming C. Lin. (ICML 2021)

Differentiable Dynamics for Rigid Body and Cloth Coupling Code Paper Scalable Differentiable Physics for Learning and Control. Yi-Ling Qiao, Junbang Liang, Vladlen Koltun, Ming C. Lin. (ICML 2020)

Differentiable Cloth Dynamics Code Paper Differentiable Cloth Simulation for Inverse Problems. Junbang Liang, Ming C. Lin, Vladlen Koltun. (NeurIPS 2019)

Bibtex

@inproceedings{Qiao2021Differentiable,
author  = {Qiao, Yi-Ling and Liang, Junbang and Koltun, Vladlen and Lin, Ming C.},
title  = {Differentiable Simulation of Soft Multi-body Systems},
booktitle = {Conference on Neural Information Processing Systems (NeurIPS)},
year  = {2021},
}