Author

Ying Jiang

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Preprint Aug 2026

Differentiate the Solver, Not the Equation: Reverse-Sweep Adjoints for Block Implicit Simulation

This work proposes solver-level differentiation, which differentiates the executed solver itself through the identical executed forward to machine precision at every solver depth; in a controlled same-codebase, same-GPU comparison it is 33x faster and uses 71x less memory than unrolled automatic differentiation.

Lei Shu, Ying Jiang, Kui Wu et al. · 1 citation

Preprint Sep 2026

ArticulateArena: A Metric for Articulated Kinematics

ArticulateArena is proposed, a representation-invariant counterpart of Chamfer distance for articulation that compares the motions one-DOF joints induce rather than the parameters that encode them, and it is proved that the resulting quotient distance is a metric.

Yu-Meng He, Yong-Fei She, Huan-Yu Chen et al. · 0 citations

Preprint Aug 2026

RoboEdit: Turning Human Manipulation Videos into Scalable Robot Experience

RoboEdit is presented, a human-to-robot video editing suite that transforms human manipulation videos into action-consistent, physically plausible robot videos with aligned 3D hand states, providing scalable, high-fidelity visual and 3D motion supervision for generalizable robot learning.

Yaowei Guo, Zeng Tao, Yuxin Jiang et al. · 2 citations