{"id":"https://openalex.org/W3185441269","doi":"https://doi.org/10.1109/iros51168.2021.9636783","title":"Sim2Sim Evaluation of a Novel Data-Efficient Differentiable Physics Engine for Tensegrity Robots","display_name":"Sim2Sim Evaluation of a Novel Data-Efficient Differentiable Physics Engine for Tensegrity Robots","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3185441269","doi":"https://doi.org/10.1109/iros51168.2021.9636783","mag":"3185441269"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636783","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636783","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100366680","display_name":"Kun Wang","orcid":"https://orcid.org/0000-0002-6652-8604"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kun Wang","raw_affiliation_strings":["Rutgers University, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020399473","display_name":"Mridul Aanjaneya","orcid":"https://orcid.org/0000-0002-5286-8173"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mridul Aanjaneya","raw_affiliation_strings":["Rutgers University, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas Bekris","raw_affiliation_strings":["Rutgers University, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102322142"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1694","last_page":"1701"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"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/T11870","display_name":"Structural Analysis and Optimization","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9855999946594238,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tensegrity","display_name":"Tensegrity","score":0.9176995754241943},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.770026683807373},{"id":"https://openalex.org/keywords/physics-engine","display_name":"Physics engine","score":0.7161757946014404},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.6549768447875977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6261270642280579},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5704250335693359},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5213176608085632},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5142030715942383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4788491725921631},{"id":"https://openalex.org/keywords/dynamical-simulation","display_name":"Dynamical simulation","score":0.4358668327331543},{"id":"https://openalex.org/keywords/bar","display_name":"Bar (unit)","score":0.4298771321773529},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2372325360774994},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1208275556564331}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.9176995754241943},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.770026683807373},{"id":"https://openalex.org/C190390380","wikidata":"https://www.wikidata.org/wiki/Q62505","display_name":"Physics engine","level":2,"score":0.7161757946014404},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.6549768447875977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6261270642280579},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5704250335693359},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5213176608085632},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5142030715942383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4788491725921631},{"id":"https://openalex.org/C81587630","wikidata":"https://www.wikidata.org/wiki/Q5319044","display_name":"Dynamical simulation","level":2,"score":0.4358668327331543},{"id":"https://openalex.org/C188721877","wikidata":"https://www.wikidata.org/wiki/Q103510","display_name":"Bar (unit)","level":2,"score":0.4298771321773529},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2372325360774994},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1208275556564331},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","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/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636783","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636783","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7400000095367432,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W639693478","https://openalex.org/W1498436455","https://openalex.org/W1996028840","https://openalex.org/W2040870580","https://openalex.org/W2045249257","https://openalex.org/W2066401364","https://openalex.org/W2078856056","https://openalex.org/W2084399420","https://openalex.org/W2112036188","https://openalex.org/W2158782408","https://openalex.org/W2158928443","https://openalex.org/W2167856595","https://openalex.org/W2197865343","https://openalex.org/W2552391307","https://openalex.org/W2597913277","https://openalex.org/W2809146571","https://openalex.org/W2890731859","https://openalex.org/W2891122218","https://openalex.org/W2909067076","https://openalex.org/W2919946715","https://openalex.org/W2946367378","https://openalex.org/W2946544065","https://openalex.org/W2948680363","https://openalex.org/W2952915411","https://openalex.org/W2956709224","https://openalex.org/W2962867885","https://openalex.org/W2963030758","https://openalex.org/W2963491608","https://openalex.org/W2964284820","https://openalex.org/W2968042644","https://openalex.org/W2969053614","https://openalex.org/W2970529185","https://openalex.org/W2971162686","https://openalex.org/W2991697224","https://openalex.org/W3001347403","https://openalex.org/W3022109602","https://openalex.org/W3040906967","https://openalex.org/W3108888711","https://openalex.org/W3166946288","https://openalex.org/W4294563757","https://openalex.org/W4378195498","https://openalex.org/W6603909136","https://openalex.org/W6729508183","https://openalex.org/W6734866506","https://openalex.org/W6751955834","https://openalex.org/W6752737978","https://openalex.org/W6754626593","https://openalex.org/W6763108371","https://openalex.org/W6763340073","https://openalex.org/W6765131315","https://openalex.org/W6766267071","https://openalex.org/W6767077755","https://openalex.org/W6770542711","https://openalex.org/W6777186521","https://openalex.org/W6780882107","https://openalex.org/W6796246017"],"related_works":["https://openalex.org/W3127082165","https://openalex.org/W3142960102","https://openalex.org/W3163328464","https://openalex.org/W4311913649","https://openalex.org/W3098996264","https://openalex.org/W4221140959","https://openalex.org/W4297833560","https://openalex.org/W3185441269","https://openalex.org/W3200603248","https://openalex.org/W2891122218"],"abstract_inverted_index":{"Learning":[0],"policies":[1,46,164],"in":[2,91,178],"simulation":[3,48],"is":[4,15,39,120,138,246],"promising":[5],"for":[6,18,126,206,248],"reducing":[7],"human":[8,89],"effort":[9,90],"when":[10,242],"training":[11,249,251],"robot":[12],"controllers.":[13],"This":[14,94],"especially":[16],"true":[17],"soft":[19],"robots":[20,128,203],"that":[21,129,165,222,235],"are":[22,82,204,229],"more":[23,29],"adaptive":[24],"and":[25,34,133,208,215],"safe":[26],"but":[27,62,81,106],"also":[28,87],"difficult":[30],"to":[31,43,49,58,139,162,170,231],"accurately":[32],"model":[33,191],"control.":[35],"The":[36,136,156,219],"sim2real":[37],"gap":[38,61],"the":[40,104,113,116,121,171,181,188,238,243,252,256],"main":[41],"barrier":[42],"successfully":[44],"transfer":[45],"from":[47,79],"a":[50,67,97,141,175,196,213,216,233],"real":[51],"robot.":[52],"System":[53],"identification":[54,64],"can":[55,74,147,166],"be":[56,159,167],"applied":[57],"reduce":[59],"this":[60,119,179],"traditional":[63],"methods":[65],"require":[66],"lot":[68],"of":[69,109,115,192,210,225],"manual":[70],"tuning.":[71],"Data-driven":[72],"alternatives":[73],"tune":[75],"dynamical":[76],"models":[77],"directly":[78,254],"data":[80,84,228],"often":[83],"hungry,":[85],"which":[86,146],"incorporates":[88],"collecting":[92],"data.":[93,155],"work":[95,183],"proposes":[96],"data-driven,":[98],"end-to-end":[99],"differentiable":[100,123,244],"simulator":[101],"focused":[102],"on":[103,237,255],"exciting":[105],"challenging":[107],"domain":[108],"tensegrity":[110,127,202],"robots.":[111],"To":[112],"best":[114],"authors\u2019":[117],"knowledge,":[118],"first":[122,176],"physics":[124],"engine":[125,245],"supports":[130],"cable,":[131],"contact,":[132],"actuation":[134],"modeling.":[135],"aim":[137],"develop":[140],"reasonably":[142],"simplified,":[143],"data-driven":[144],"simulation,":[145],"learn":[148],"approximate":[149],"dynamics":[150,157],"with":[151],"limited":[152],"ground":[153,197,226,239,257],"truth":[154,198,227,240,258],"must":[158],"accurate":[160],"enough":[161],"generate":[163],"transferred":[168],"back":[169],"ground-truth":[172],"system.":[173,199,259],"As":[174],"step":[177],"direction,":[180],"current":[182],"demonstrates":[184],"sim2sim":[185],"transfer,":[186],"where":[187],"unknown":[189],"physical":[190],"MuJoCo":[193],"acts":[194],"as":[195],"Two":[200],"different":[201],"used":[205,247],"evaluation":[207],"learning":[209],"locomotion":[211],"policies,":[212],"6-bar":[214],"3-bar":[217],"tensegrity.":[218],"results":[220],"indicate":[221],"only":[223],"0.25%":[224],"needed":[230],"train":[232],"policy":[234,253],"works":[236],"system":[241],"against":[250]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
