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05/08/2023
A Closest Point Method for Surface PDEs with Interior Boundary Conditions for Geometry Processing
Many geometry processing techniques require the solution of partial diff...
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09/13/2022
Real2Sim2Real Transfer for Control of Cable-driven Robots via a Differentiable Physics Engine
Tensegrity robots, composed of rigid rods and flexible cables, exhibit h...
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02/28/2022
A Recurrent Differentiable Engine for Modeling Tensegrity Robots Trainable with Low-Frequency Data
Tensegrity robots, composed of rigid rods and flexible cables, are diffi...
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11/25/2021
RLIBM-PROG: Progressive Polynomial Approximations for Fast Correctly Rounded Math Libraries
This paper presents a novel method for generating a single polynomial ap...
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08/01/2021
A-ULMPM: An Arbitrary Updated Lagrangian Material Point Method for Efficient Simulation of Solids and Fluids
We present an arbitrary updated Lagrangian Material Point Method (A-ULMP...
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11/10/2020
An End-to-End Differentiable but Explainable Physics Engine for Tensegrity Robots: Modeling and Control
This work proposes an end-to-end differentiable physics engine for tense...
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11/09/2020
Spring-Rod System Identification via Differentiable Physics Engine
We propose a novel differentiable physics engine for system identificati...
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09/24/2020
Model Identification and Control of a Low-Cost Wheeled Mobile Robot Using Differentiable Physics
We present the design of a low-cost wheeled mobile robot, and an analyti...
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07/09/2020
A Novel Approach to Generate Correctly Rounded Math Libraries for New Floating Point Representations
Given the importance of floating-point (FP) performance in numerous doma...
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04/28/2020