{"id":"https://openalex.org/W2968042644","doi":"https://doi.org/10.1109/icra.2019.8794333","title":"ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics","display_name":"ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968042644","doi":"https://doi.org/10.1109/icra.2019.8794333","mag":"2968042644"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794333","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794333","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068155662","display_name":"Yuanming Hu","orcid":"https://orcid.org/0000-0002-1136-9909"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuanming Hu","raw_affiliation_strings":["Computer Science and Amficial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Amficial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100739283","display_name":"Jiancheng Liu","orcid":"https://orcid.org/0000-0001-8327-3378"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiancheng Liu","raw_affiliation_strings":["Institute for Interdisciplinary Information Science, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Interdisciplinary Information Science, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006466898","display_name":"Andrew Spielberg","orcid":"https://orcid.org/0000-0002-6937-6204"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Spielberg","raw_affiliation_strings":["Computer Science and Amficial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Amficial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071093940","display_name":"Joshua B. Tenenbaum","orcid":"https://orcid.org/0000-0002-1925-2035"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua B. Tenenbaum","raw_affiliation_strings":["Computer Science and Amficial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Amficial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074429265","display_name":"William T. Freeman","orcid":"https://orcid.org/0000-0002-2231-7995"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William T. Freeman","raw_affiliation_strings":["Computer Science and Amficial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Amficial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100621605","display_name":"Jiajun Wu","orcid":"https://orcid.org/0000-0002-4176-343X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiajun Wu","raw_affiliation_strings":["Computer Science and Amficial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Amficial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Computer Science and Amficial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Amficial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018010391","display_name":"Wojciech Matusik","orcid":"https://orcid.org/0000-0003-0212-5643"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wojciech Matusik","raw_affiliation_strings":["Computer Science and Amficial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Amficial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":22.9175,"has_fulltext":false,"cited_by_count":223,"citation_normalized_percentile":{"value":0.99838208,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6265","last_page":"6271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11751","display_name":"Lattice Boltzmann Simulation Studies","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9897000193595886,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.7222450971603394},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6770331263542175},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6608641743659973},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5934112071990967},{"id":"https://openalex.org/keywords/physical-system","display_name":"Physical system","score":0.5838228464126587},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5031093955039978},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49271896481513977},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4471563994884491},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4368029236793518},{"id":"https://openalex.org/keywords/physics-engine","display_name":"Physics engine","score":0.4348887503147125},{"id":"https://openalex.org/keywords/lagrangian-mechanics","display_name":"Lagrangian mechanics","score":0.43486320972442627},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.41872894763946533},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3895372450351715},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3335564434528351},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2916952073574066},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15574869513511658},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1530241072177887}],"concepts":[{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.7222450971603394},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6770331263542175},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6608641743659973},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5934112071990967},{"id":"https://openalex.org/C116672817","wikidata":"https://www.wikidata.org/wiki/Q1454986","display_name":"Physical system","level":2,"score":0.5838228464126587},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5031093955039978},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49271896481513977},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4471563994884491},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4368029236793518},{"id":"https://openalex.org/C190390380","wikidata":"https://www.wikidata.org/wiki/Q62505","display_name":"Physics engine","level":2,"score":0.4348887503147125},{"id":"https://openalex.org/C499771625","wikidata":"https://www.wikidata.org/wiki/Q324669","display_name":"Lagrangian mechanics","level":5,"score":0.43486320972442627},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.41872894763946533},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3895372450351715},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3335564434528351},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2916952073574066},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15574869513511658},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1530241072177887},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C15184713","wikidata":"https://www.wikidata.org/wiki/Q7269042","display_name":"Quantum dynamics","level":3,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C206183056","wikidata":"https://www.wikidata.org/wiki/Q833065","display_name":"Analytical mechanics","level":4,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C84114770","wikidata":"https://www.wikidata.org/wiki/Q46344","display_name":"Quantum","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8794333","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794333","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1570792896","https://openalex.org/W2022566626","https://openalex.org/W2043801342","https://openalex.org/W2089726988","https://openalex.org/W2112961542","https://openalex.org/W2115513040","https://openalex.org/W2140597756","https://openalex.org/W2158782408","https://openalex.org/W2162410491","https://openalex.org/W2379106294","https://openalex.org/W2465888780","https://openalex.org/W2469863283","https://openalex.org/W2552391307","https://openalex.org/W2556096037","https://openalex.org/W2559857813","https://openalex.org/W2645990732","https://openalex.org/W2736344262","https://openalex.org/W2736601468","https://openalex.org/W2739405427","https://openalex.org/W2769733039","https://openalex.org/W2798432469","https://openalex.org/W2804072623","https://openalex.org/W2805883505","https://openalex.org/W2809146571","https://openalex.org/W2809724354","https://openalex.org/W2810216202","https://openalex.org/W2810873357","https://openalex.org/W2887575682","https://openalex.org/W2891122218","https://openalex.org/W2891326594","https://openalex.org/W2902093690","https://openalex.org/W2951660942","https://openalex.org/W2952915411","https://openalex.org/W2962867885","https://openalex.org/W2963030758","https://openalex.org/W2963207497","https://openalex.org/W4294563757","https://openalex.org/W4294568351","https://openalex.org/W4322614752","https://openalex.org/W6729508183","https://openalex.org/W6730420370","https://openalex.org/W6730527976","https://openalex.org/W6741002519","https://openalex.org/W6750234941","https://openalex.org/W6751955834","https://openalex.org/W6752737978"],"related_works":["https://openalex.org/W4285277090","https://openalex.org/W4327738859","https://openalex.org/W2348722996","https://openalex.org/W2334570605","https://openalex.org/W3181683615","https://openalex.org/W1633485514","https://openalex.org/W1980454230","https://openalex.org/W1604739066","https://openalex.org/W1510896062","https://openalex.org/W2954267022"],"abstract_inverted_index":{"Physical":[0],"simulators":[1,14,44],"have":[2,79,172],"been":[3],"widely":[4],"used":[5],"in":[6,30,163,176],"robot":[7],"planning":[8],"and":[9,38,45,75,87,146,167,183],"control.":[10],"Among":[11],"them,":[12],"differentiable":[13,48,120],"are":[15,28,50,72,90],"particularly":[16],"favored,":[17],"as":[18,35],"they":[19,89],"can":[20,140,147],"be":[21,148],"incorporated":[22,150],"into":[23,151],"gradient-based":[24],"optimization":[25],"algorithms":[26],"that":[27,157],"efficient":[29],"solving":[31],"inverse":[32],"problems":[33],"such":[34],"optimal":[36],"control":[37,182],"motion":[39],"planning.":[40],"Therefore,":[41],"rigid":[42,62],"body":[43,63],"recently":[46],"their":[47],"variants":[49],"studied":[51],"extensively.":[52],"Simulating":[53],"deformable":[54,70,126,142],"objects":[55,71,143],"is,":[56],"however,":[57],"more":[58,73,83,92,110],"challenging":[59],"compared":[60],"to":[61,95,101],"dynamics.":[64],"The":[65],"underlying":[66],"physical":[67,102,123],"laws":[68],"of":[69,81,85,180],"complex,":[74],"the":[76,131],"resulting":[77],"systems":[78],"orders":[80],"magnitude":[82],"degrees":[84],"freedom":[86],"there-fore":[88],"significantly":[91],"computationally":[93,111],"expensive":[94],"simulate.":[96],"Computing":[97],"gradients":[98],"with":[99,144],"respect":[100],"design":[103],"or":[104],"controller":[105],"parameters":[106],"is":[107],"typically":[108],"even":[109],"challenging.":[112],"In":[113],"this":[114],"paper,":[115],"we":[116],"propose":[117],"a":[118,177],"real-time,":[119],"hybrid":[121],"Lagrangian-Eulerian":[122],"simulator":[124,159],"for":[125,186],"objects,":[127],"ChainQueen,":[128],"based":[129],"on":[130],"Moving":[132],"Least":[133],"Squares":[134],"Material":[135],"Point":[136],"Method":[137],"(MLS-MPM).":[138],"MLS-MPM":[139],"simulate":[141],"collisions":[145],"seamlessly":[149],"soft":[152,187],"robotic":[153],"systems.":[154],"We":[155,171],"demonstrate":[156],"our":[158],"achieves":[160],"high":[161],"precision":[162],"both":[164],"forward":[165],"simulation":[166],"backward":[168],"gradient":[169],"computation.":[170],"successfully":[173],"employed":[174],"it":[175],"diverse":[178],"set":[179],"inference,":[181],"co-design":[184],"tasks":[185],"robotics.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":28},{"year":2024,"cited_by_count":27},{"year":2023,"cited_by_count":43},{"year":2022,"cited_by_count":44},{"year":2021,"cited_by_count":42},{"year":2020,"cited_by_count":30},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}