Author

He Wang

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Preprint Oct 2026

CQDC-Warp: GPU-Accelerated Differentiable Quasi-Dynamic Simulation for Contact-Rich Manipulation

CQDC-Warp is presented, a GPU-accelerated differentiable quasi-dynamic simulator for batched model predictive control (MPC) for contact-guided trajectory optimization, in which intended robot--object contacts are specified before planning and encouraged through soft costs, while the simulated dynamics determine contact...

Yan-Chen Ding, Jia-Yi Chen, Jian-Feng Xu et al. · 0 citations

Preprint Sep 2026

GIF: Agentic Generation of Interactive and Functional Object Compositions for Robot Learning

GIF, an agentic Generation framework for Interactive and Functional object compositions, recast this problem as disentangled reconstruction followed by relative pose recovery, revealing diversity scaling in both simulation and real-world deployment.

Long-Ji Xu, Zhi-Qi Zhang, Mi Yan et al. · 2 citations · ⚡2

#artificial intelligence Preprint Sep 2026

Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Hands

Bench2Dex is meant as a platform for studying visuo-tactile learning across dexterous hands and offers a shared setting for algorithm development while tactile hardware and simulation models are still evolving.

Zhen-Jie Yang, Yi-Deng Zhang, Dong-Jie Zhang et al. · 1 citation