DiffPhD delivers a unified differentiable projective dynamics solver for heterogeneous hyperelastic elastodynamics with contact that achieves up to 10x speedup and stable convergence on 100x stiffness contrasts while preserving strict gradient accuracy.
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SIM1 converts sparse real demonstrations into high-fidelity synthetic data through physics-aligned simulation, yielding policies that match real-data performance at a 1:15 ratio with 90% zero-shot success on deformable manipulation.
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DiffPhD: A Unified Differentiable Solver for Projective Heterogeneous Materials in Elastodynamics with Contact-Rich GPU-Acceleration
DiffPhD delivers a unified differentiable projective dynamics solver for heterogeneous hyperelastic elastodynamics with contact that achieves up to 10x speedup and stable convergence on 100x stiffness contrasts while preserving strict gradient accuracy.
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SIM1: Physics-Aligned Simulator as Zero-Shot Data Scaler in Deformable Worlds
SIM1 converts sparse real demonstrations into high-fidelity synthetic data through physics-aligned simulation, yielding policies that match real-data performance at a 1:15 ratio with 90% zero-shot success on deformable manipulation.