{"id":"https://openalex.org/W4389666897","doi":"https://doi.org/10.1109/iros55552.2023.10341573","title":"DiffClothAI: Differentiable Cloth Simulation with Intersection-free Frictional Contact and Differentiable Two-Way Coupling with Articulated Rigid Bodies","display_name":"DiffClothAI: Differentiable Cloth Simulation with Intersection-free Frictional Contact and Differentiable Two-Way Coupling with Articulated Rigid Bodies","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666897","doi":"https://doi.org/10.1109/iros55552.2023.10341573"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341573","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341573","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5100597233","display_name":"Xinyuan Yu","orcid":"https://orcid.org/0009-0001-3828-4139"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Xinyuan Yu","raw_affiliation_strings":["National University of Singapore,Department of Computer Science,Singapore","Department of Computer Science, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Computer Science,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Computer Science, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101278787","display_name":"Siheng Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Siheng Zhao","raw_affiliation_strings":["National University of Singapore,Department of Computer Science,Singapore","Department of Computer Science, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Computer Science,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Computer Science, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113107347","display_name":"Siyuan Luo","orcid":"https://orcid.org/0009-0001-6696-5513"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyuan Luo","raw_affiliation_strings":["Xi&#x0027;an Jiaotong University,Department of Computer Science,China"],"affiliations":[{"raw_affiliation_string":"Xi&#x0027;an Jiaotong University,Department of Computer Science,China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021131141","display_name":"Gang Yang","orcid":"https://orcid.org/0000-0002-5698-805X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gang Yang","raw_affiliation_strings":["National University of Singapore,Department of Computer Science,Singapore","Department of Computer Science, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Computer Science,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Computer Science, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100566831","display_name":"Lin Shao","orcid":"https://orcid.org/0000-0002-3412-5755"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lin Shao","raw_affiliation_strings":["National University of Singapore,Department of Computer Science,Singapore","Department of Computer Science, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Computer Science,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Computer Science, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100597233"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":1.2696,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.80513437,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"400","last_page":"407"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9973000288009644,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.8766367435455322},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.7776401042938232},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.6873066425323486},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5425669550895691},{"id":"https://openalex.org/keywords/physics-engine","display_name":"Physics engine","score":0.439322829246521},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3123149275779724},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.222347229719162},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2022818922996521},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18119767308235168},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.11998209357261658},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07028332352638245}],"concepts":[{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.8766367435455322},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.7776401042938232},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.6873066425323486},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5425669550895691},{"id":"https://openalex.org/C190390380","wikidata":"https://www.wikidata.org/wiki/Q62505","display_name":"Physics engine","level":2,"score":0.439322829246521},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3123149275779724},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.222347229719162},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2022818922996521},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18119767308235168},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.11998209357261658},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07028332352638245}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341573","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341573","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2024243735","https://openalex.org/W2055035360","https://openalex.org/W2073592368","https://openalex.org/W2086210210","https://openalex.org/W2112961542","https://openalex.org/W2132836675","https://openalex.org/W2556096037","https://openalex.org/W2736021157","https://openalex.org/W2891122218","https://openalex.org/W2968042644","https://openalex.org/W2970529185","https://openalex.org/W2977371611","https://openalex.org/W2995253198","https://openalex.org/W3003038987","https://openalex.org/W3022917619","https://openalex.org/W3038186741","https://openalex.org/W3038570409","https://openalex.org/W3048889784","https://openalex.org/W3109952375","https://openalex.org/W3126978359","https://openalex.org/W3127216876","https://openalex.org/W3168575721","https://openalex.org/W3173446233","https://openalex.org/W3174147249","https://openalex.org/W3212601792","https://openalex.org/W3214811308","https://openalex.org/W4281726785","https://openalex.org/W4286615952","https://openalex.org/W4386137125","https://openalex.org/W6767077755","https://openalex.org/W6769017845","https://openalex.org/W6780379829","https://openalex.org/W6796493615","https://openalex.org/W6803707382"],"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/W4286826125","https://openalex.org/W1633485514","https://openalex.org/W2737176847","https://openalex.org/W2998116478","https://openalex.org/W237543337"],"abstract_inverted_index":{"Differentiable":[0],"Simulations":[1],"have":[2],"recently":[3],"proven":[4],"useful":[5],"for":[6],"various":[7],"robotic":[8,15,96],"manipulation":[9,97],"tasks,":[10],"including":[11],"cloth":[12,16,30],"manipulation.":[13],"In":[14],"simulation,":[17],"it":[18],"is":[19],"crucial":[20],"to":[21,58],"maintain":[22],"intersection-free":[23,33],"properties.":[24],"We":[25,78],"present":[26],"DiffClothAI,":[27],"a":[28,80,90],"differentiable":[29,69],"simulation":[31],"with":[32,39],"friction":[34],"contact":[35],"and":[36,48,53,76,86,88,101],"two-way":[37],"coupling":[38,70],"articulated":[40,73],"rigid":[41,74],"bodies.":[42],"DiffClothAI":[43],"integrates":[44],"the":[45,62,68],"Project":[46],"Dynamics":[47],"Incremental":[49],"Potential":[50],"Contact":[51],"coherently":[52],"proposes":[54],"an":[55],"effective":[56],"method":[57],"derive":[59],"gradients":[60],"in":[61,94],"Cloth":[63],"Simulation.":[64],"It":[65],"also":[66],"establishes":[67],"mechanism":[71],"between":[72],"bodies":[75],"cloth.":[77],"conduct":[79],"comprehensive":[81],"evaluation":[82],"of":[83,92],"DiffClothAI's":[84],"effectiveness":[85],"accuracy":[87],"perform":[89],"variety":[91],"experiments":[93],"downstream":[95],"tasks.":[98],"Supplemental":[99],"materials":[100],"videos":[102],"are":[103],"available":[104],"on":[105],"our":[106],"project":[107],"webpage":[108],"at":[109],"https://sites.google.com/view/diffsimcloth.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-08T06:01:36.053099","created_date":"2025-10-10T00:00:00"}
