Search Results for author: Andrew Spielberg

Found 9 papers, 1 papers with code

Differentiable Visual Computing for Inverse Problems and Machine Learning

no code implementations21 Nov 2023 Andrew Spielberg, Fangcheng Zhong, Konstantinos Rematas, Krishna Murthy Jatavallabhula, Cengiz Oztireli, Tzu-Mao Li, Derek Nowrouzezahrai

This approach is predicated by neural network differentiability, the requirement that analytic derivatives of a given problem's task metric can be computed with respect to neural network's parameters.

Efficient automatic design of robots

no code implementations5 Jun 2023 David Matthews, Andrew Spielberg, Daniela Rus, Sam Kriegman, Josh Bongard

Robots are notoriously difficult to design because of complex interdependencies between their physical structure, sensory and motor layouts, and behavior.

Evolutionary Algorithms

Zero-Shot Transfer of Haptics-Based Object Insertion Policies

1 code implementation29 Jan 2023 Samarth Brahmbhatt, Ankur Deka, Andrew Spielberg, Matthias Müller

In this paper we train a contact-exploiting manipulation policy in simulation for the contact-rich household task of loading plates into a slotted holder, which transfers without any fine-tuning to the real robot.

DiffAqua: A Differentiable Computational Design Pipeline for Soft Underwater Swimmers with Shape Interpolation

no code implementations2 Apr 2021 Pingchuan Ma, Tao Du, John Z. Zhang, Kui Wu, Andrew Spielberg, Robert K. Katzschmann, Wojciech Matusik

The computational design of soft underwater swimmers is challenging because of the high degrees of freedom in soft-body modeling.

DiffPD: Differentiable Projective Dynamics

no code implementations15 Jan 2021 Tao Du, Kui Wu, Pingchuan Ma, Sebastien Wah, Andrew Spielberg, Daniela Rus, Wojciech Matusik

Inspired by Projective Dynamics (PD), we present Differentiable Projective Dynamics (DiffPD), an efficient differentiable soft-body simulator based on PD with implicit time integration.


D3PG: Deep Differentiable Deterministic Policy Gradients

no code implementations25 Sep 2019 Tao Du, Yunfei Li, Jie Xu, Andrew Spielberg, Kui Wu, Daniela Rus, Wojciech Matusik

Over the last decade, two competing control strategies have emerged for solving complex control tasks with high efficacy.

Model Predictive Control

ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics

no code implementations2 Oct 2018 Yuanming Hu, Jian-Cheng Liu, Andrew Spielberg, Joshua B. Tenenbaum, William T. Freeman, Jiajun Wu, Daniela Rus, Wojciech Matusik

The underlying physical laws of deformable objects are more complex, and the resulting systems have orders of magnitude more degrees of freedom and therefore they are significantly more computationally expensive to simulate.

Motion Planning

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