We present a differentiable dynamics solver that is able to handle frictional contact for rigid
and deformable objects within a unified framework. Through a principled mollification of …

The current dominant paradigm for robotic manipulation involves two separate stages:
manipulator design and control. Because the robot's morphology and how it can be …

Efficient simulation of tactile sensors can unlock new opportunities for learning tactile-based
manipulation policies in simulation and then transferring the learned policy to real systems …

Assembly planning is the core of automating product assembly, maintenance, and recycling
for modern industrial manufacturing. Despite its importance and long history of research …

We explore the dexterous manipulation transfer problem by designing simulators. The task
wishes to transfer human manipulations to dexterous robot hand simulations and is …

We present a simulation framework for multibody dynamics via a universal variational
integration. Our method naturally supports mixed rigid-deformables and mixed …

We propose a novel three-way coupling method to model the contact interaction between
solid and fluid driven by strong surface tension. At the heart of our physical model is a thin …

We propose a simple and practical approach for incorporating the effects of muscle inertia,
which has been ignored by previous musculoskeletal simulators in both graphics and …

Secondary animation effects are essential for liveliness. We propose a simple, real‐time
solution for adding them on top of standard skinning, enabling artist‐driven stylization of …

EMU is an efficient and scalable model to simulate bulk musculoskeletal motion with
heterogenous materials. First, EMU requires no model reductions, or geometric coarsening …