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RISP: Rendering-Invariant State Predictor with Differentiable Simulation and Rendering for Cross-Domain Parameter Estimation



Pingchuan Ma , Tao Du , Joshua B. Tenenbaum , Wojciech Matusik , Chuang Gan

* ICLR Oral. Project page: http://risp.csail.mit.edu 

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An Integrated Design Pipeline for Tactile Sensing Robotic Manipulators



Lara Zlokapa , Yiyue Luo , Jie Xu , Michael Foshey , Kui Wu , Pulkit Agrawal , Wojciech Matusik


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Accelerated Policy Learning with Parallel Differentiable Simulation



Jie Xu , Viktor Makoviychuk , Yashraj Narang , Fabio Ramos , Wojciech Matusik , Animesh Garg , Miles Macklin

* International Conference on Learning Representations 

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Data-Efficient Graph Grammar Learning for Molecular Generation



Minghao Guo , Veronika Thost , Beichen Li , Payel Das , Jie Chen , Wojciech Matusik

* ICLR 2022 oral 

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Evolution Gym: A Large-Scale Benchmark for Evolving Soft Robots



Jagdeep Singh Bhatia , Holly Jackson , Yunsheng Tian , Jie Xu , Wojciech Matusik

* Accepted to NeurIPS 2021, Website with documentation is available at https://evolutiongym.github.io/ 

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JoinABLe: Learning Bottom-up Assembly of Parametric CAD Joints



Karl D. D. Willis , Pradeep Kumar Jayaraman , Hang Chu , Yunsheng Tian , Yifei Li , Daniele Grandi , Aditya Sanghi , Linh Tran , Joseph G. Lambourne , Armando Solar-Lezama , Wojciech Matusik


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Designing Composites with Target Effective Young's Modulus using Reinforcement Learning



Aldair E. Gongora , Siddharth Mysore , Beichen Li , Wan Shou , Wojciech Matusik , Elise F. Morgan , Keith A. Brown , Emily Whiting

* Accepted to the Symposium on Computational Fabrication (SCF) 2021 

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Learning Material Parameters and Hydrodynamics of Soft Robotic Fish via Differentiable Simulation



John Z. Zhang , Yu Zhang , Pingchuan Ma , Elvis Nava , Tao Du , Philip Arm , Wojciech Matusik , Robert K. Katzschmann

* 7 pages, 6 figures 

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Dynamic Modeling of Hand-Object Interactions via Tactile Sensing



Qiang Zhang , Yunzhu Li , Yiyue Luo , Wan Shou , Michael Foshey , Junchi Yan , Joshua B. Tenenbaum , Wojciech Matusik , Antonio Torralba

* IROS 2021. First two authors contributed equally. Project page: http://phystouch.csail.mit.edu/ 

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An End-to-End Differentiable Framework for Contact-Aware Robot Design



Jie Xu , Tao Chen , Lara Zlokapa , Michael Foshey , Wojciech Matusik , Shinjiro Sueda , Pulkit Agrawal

* Robotics: Science and Systems 

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