English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Tools annual

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Presents the access of premium content as premium feature

Premium Content

Global: Zendy Plus annual

Global: Zendy Free Plan

We present Jade, a differentiable physics engine for articulated rigidbodies. Jade models contacts as the Linear Complementarity Problem (LCP).Compared to existing differentiable simulations, Jade offers features includingintersection-free collision simulation and stable LCP solutions for multiplefrictional contacts. We use continuous collision detection to detect the timeof impact and adopt the backtracking strategy to prevent intersection betweenbodies with complex geometry shapes. We derive the gradient calculation toensure the whole simulation process is differentiable under the backtrackingmechanism. We modify the popular Dantzig algorithm to get valid solutions undermultiple frictional contacts. We conduct extensive experiments to demonstratethe effectiveness of our differentiable physics simulation over a variety ofcontact-rich tasks.

Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact