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gradSim: Differentiable simulation for system identification and visuomotor control
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gradSim is a differentiable simulator that combines differentiable physics and rendering engine for image-based system identification tasks, and for visuomotor control policy learning.
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2026-03-03 01:48:54
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gradSim: Differentiable simulation for system identification and visuomotor control gradSim: Differentiable simulation for system identification and visuomotor control Paper (PDF) Code Video Read ↓ Scroll down to read a dynamic version of our article ↓ gradSim: Differentiable simulation for system identification and visuomotor control Krishna Murthy Jatavallabhula * 1,3,4 Miles Macklin * 2 Florian Golemo 1,3 Vikram Voleti 3,4 Linda Petrini 3 Martin Weiss 3,4 Breandan Considine 3,5 Jerome Parent-Levesque 3,5 Kevin (Robert) Xie 2,6,7 Kenny Erleben 8 Liam Paull 1,3,4 Florian Shkurti 6,7 Derek Nowrouzezahrai 3,5 Sanja Fidler 2,6,7 * Equal contribution 1 Robotics and Embodied AI Lab 2 NVIDIA 3 Mila 4 Univ. of Montreal 5 McGill 6 Vector institute 7 Univ. of Toronto 8 Univ. of Copenhagen March 29 2021 Download PDF Abstract We consider the problem of estimating an object's physical properties such as mass, frict...
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