On the Numerical Reliability of Differentiable Physics-Based Optimization for Robotic Material Manipulation
Differentiable physics is increasingly used in robotic material manipulation for system identification, trajectory or skill optimization, demonstration generation, and robot or end-effector design. These applications depend on gradients propagated through long, contact-rich simulation rollouts. We study the numerical r...
Xin-Tong Yang, Ming-Lun Wei, Yu-Kun Lai et al.
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