The authors develop a differentiable simulator enforcing Markovian dynamics on a position-velocity manifold and using a mass-aligned preconditioner with a soft Fischer-Burmeister operator to produce stable gradients for frictional contact in large-deformation scenarios.
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Fast and Reliable Gradients for Deformables Across Frictional Contact Regimes
The authors develop a differentiable simulator enforcing Markovian dynamics on a position-velocity manifold and using a mass-aligned preconditioner with a soft Fischer-Burmeister operator to produce stable gradients for frictional contact in large-deformation scenarios.