{"id":"https://openalex.org/W3170808406","doi":"https://doi.org/10.1145/3490168","title":"DiffPD: Differentiable Projective Dynamics","display_name":"DiffPD: Differentiable Projective Dynamics","publication_year":2021,"publication_date":"2021-11-29","ids":{"openalex":"https://openalex.org/W3170808406","doi":"https://doi.org/10.1145/3490168","mag":"3170808406"},"language":"en","primary_location":{"id":"doi:10.1145/3490168","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3490168","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3490168","source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3490168","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102975242","display_name":"Tao Du","orcid":"https://orcid.org/0000-0001-7337-7667"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tao Du","raw_affiliation_strings":["MIT CSAIL, Cambridge, MA, USA","MIT CSAIL,Cambridge,MA,USA"],"raw_orcid":"https://orcid.org/0000-0001-7337-7667","affiliations":[{"raw_affiliation_string":"MIT CSAIL, Cambridge, MA, USA","institution_ids":[]},{"raw_affiliation_string":"MIT CSAIL,Cambridge,MA,USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100641551","display_name":"Kui Wu","orcid":"https://orcid.org/0000-0003-3326-7943"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kui Wu","raw_affiliation_strings":["MIT CSAIL, Cambridge, MA, USA","MIT CSAIL,Cambridge,MA,USA"],"raw_orcid":"https://orcid.org/0000-0003-3326-7943","affiliations":[{"raw_affiliation_string":"MIT CSAIL, Cambridge, MA, USA","institution_ids":[]},{"raw_affiliation_string":"MIT CSAIL,Cambridge,MA,USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102716109","display_name":"Pingchuan Ma","orcid":"https://orcid.org/0009-0007-5973-6812"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pingchuan Ma","raw_affiliation_strings":["MIT CSAIL, Cambridge, MA, USA","MIT CSAIL,Cambridge,MA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT CSAIL, Cambridge, MA, USA","institution_ids":[]},{"raw_affiliation_string":"MIT CSAIL,Cambridge,MA,USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020349981","display_name":"Sebastien Wah","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sebastien Wah","raw_affiliation_strings":["MIT CSAIL, Cambridge, MA, USA","MIT CSAIL,Cambridge,MA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT CSAIL, Cambridge, MA, USA","institution_ids":[]},{"raw_affiliation_string":"MIT CSAIL,Cambridge,MA,USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006466898","display_name":"Andrew Spielberg","orcid":"https://orcid.org/0000-0002-6937-6204"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andrew Spielberg","raw_affiliation_strings":["MIT CSAIL, Cambridge, MA, USA","MIT CSAIL,Cambridge,MA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT CSAIL, Cambridge, MA, USA","institution_ids":[]},{"raw_affiliation_string":"MIT CSAIL,Cambridge,MA,USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["MIT CSAIL, Cambridge, MA, USA","MIT CSAIL,Cambridge,MA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT CSAIL, Cambridge, MA, USA","institution_ids":[]},{"raw_affiliation_string":"MIT CSAIL,Cambridge,MA,USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018010391","display_name":"Wojciech Matusik","orcid":"https://orcid.org/0000-0003-0212-5643"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wojciech Matusik","raw_affiliation_strings":["MIT CSAIL, Cambridge, MA, USA","MIT CSAIL,Cambridge,MA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT CSAIL, Cambridge, MA, USA","institution_ids":[]},{"raw_affiliation_string":"MIT CSAIL,Cambridge,MA,USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3938,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.59576709,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"41","issue":"2","first_page":"1","last_page":"21"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9965999722480774,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9884999990463257,"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":0.8061796426773071},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6206770539283752},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4239840805530548},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4105421006679535},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.41013574600219727},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3903655409812927},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3228861689567566},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.27404409646987915},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2537687420845032},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.18421867489814758},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08605331182479858}],"concepts":[{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.8061796426773071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6206770539283752},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4239840805530548},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4105421006679535},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.41013574600219727},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3903655409812927},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3228861689567566},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.27404409646987915},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2537687420845032},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.18421867489814758},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08605331182479858},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1145/3490168","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3490168","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3490168","source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2101.05917","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.05917","pdf_url":"https://arxiv.org/pdf/2101.05917","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3170808406","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2101.05917.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:dspace.mit.edu:1721.1/143798","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/143798","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ACM","raw_type":"http://purl.org/eprint/type/JournalArticle"},{"id":"doi:10.48550/arxiv.2101.05917","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2101.05917","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.1145/3490168","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3490168","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3490168","source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4713059963","display_name":null,"funder_award_id":"FA8750","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G4793398307","display_name":null,"funder_award_id":"FA8750-20-C-0075","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G5443977712","display_name":null,"funder_award_id":"No. FA8750-20-C-0075","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G7732716628","display_name":"Collaborative Research: HCC: Medium: Computational Design of Complex Fluidic Systems","funder_award_id":"2106962","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G97508571","display_name":null,"funder_award_id":"2019-19020100001","funder_id":"https://openalex.org/F4320333051","funder_display_name":"Intelligence Advanced Research Projects Activity"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320332815","display_name":"Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320333051","display_name":"Intelligence Advanced Research Projects Activity","ror":"https://ror.org/01v3fsc55"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3170808406.pdf","grobid_xml":"https://content.openalex.org/works/W3170808406.grobid-xml"},"referenced_works_count":55,"referenced_works":["https://openalex.org/W1704704075","https://openalex.org/W1823791555","https://openalex.org/W2024243735","https://openalex.org/W2024838691","https://openalex.org/W2039528058","https://openalex.org/W2046090405","https://openalex.org/W2067910404","https://openalex.org/W2105673236","https://openalex.org/W2120652436","https://openalex.org/W2156410578","https://openalex.org/W2157445071","https://openalex.org/W2233768585","https://openalex.org/W2510393759","https://openalex.org/W2550905413","https://openalex.org/W2552810306","https://openalex.org/W2556096037","https://openalex.org/W2611752399","https://openalex.org/W2736601468","https://openalex.org/W2736651773","https://openalex.org/W2738259880","https://openalex.org/W2783082134","https://openalex.org/W2805883505","https://openalex.org/W2808041318","https://openalex.org/W2810015627","https://openalex.org/W2810393904","https://openalex.org/W2811415544","https://openalex.org/W2894638370","https://openalex.org/W2895524695","https://openalex.org/W2896978180","https://openalex.org/W2963030758","https://openalex.org/W2964121744","https://openalex.org/W2964315391","https://openalex.org/W2966651785","https://openalex.org/W2966817520","https://openalex.org/W2968042644","https://openalex.org/W2970293125","https://openalex.org/W2978940263","https://openalex.org/W2983534281","https://openalex.org/W2988458564","https://openalex.org/W2988986133","https://openalex.org/W2995894173","https://openalex.org/W2997251730","https://openalex.org/W3003409178","https://openalex.org/W3007913393","https://openalex.org/W3022917619","https://openalex.org/W3029645440","https://openalex.org/W3048889784","https://openalex.org/W3106973946","https://openalex.org/W3109203373","https://openalex.org/W3109952375","https://openalex.org/W3137300270","https://openalex.org/W4246185210","https://openalex.org/W4249749781","https://openalex.org/W6632030211","https://openalex.org/W6741002519"],"related_works":["https://openalex.org/W3190385304","https://openalex.org/W1976838132","https://openalex.org/W2598494380","https://openalex.org/W2138914698","https://openalex.org/W2158933229","https://openalex.org/W2281344965","https://openalex.org/W2746192852","https://openalex.org/W2189261758","https://openalex.org/W3004707988","https://openalex.org/W626498877","https://openalex.org/W3112602021","https://openalex.org/W3212952771","https://openalex.org/W2096932164","https://openalex.org/W2767169025","https://openalex.org/W2179850892","https://openalex.org/W142829894","https://openalex.org/W2032435834","https://openalex.org/W2147727253","https://openalex.org/W3176958767","https://openalex.org/W2905808123"],"abstract_inverted_index":{"We":[0,140,173],"present":[1,72],"a":[2,122,131,178,194],"novel,":[3],"fast":[4],"differentiable":[5,14,81],"simulator":[6,83],"for":[7],"soft-body":[8,15,82],"learning":[9],"and":[10,44,58,127,130,137,146,170,186,188],"control":[11],"applications.":[12],"Existing":[13],"simulators":[16,45],"can":[17],"be":[18],"classified":[19],"into":[20],"two":[21,118],"categories":[22],"based":[23,84],"on":[24,85],"their":[25],"time":[26,48,89],"integration":[27,49],"methods:":[28],"Simulators":[29],"using":[30,46],"explicit":[31],"timestepping":[32],"schemes":[33],"require":[34],"tiny":[35],"timesteps":[36],"to":[37,97],"avoid":[38],"numerical":[39],"instabilities":[40],"in":[41,94,107,159,177],"gradient":[42],"computation,":[43],"implicit":[47,88],"typically":[50],"compute":[51],"gradients":[52],"by":[53,65,101],"employing":[54],"the":[55,60,103,142,155],"adjoint":[56],"method":[57,158],"solving":[59],"expensive":[61],"linearized":[62],"dynamics.":[63],"Inspired":[64],"Projective":[66,74],"Dynamics":[67,75],"(":[68,76,180],"PD":[69,86,109],"),":[70,78],"we":[71],"Differentiable":[73],"DiffPD":[77,95,116,145,176],"an":[79],"efficient":[80],"with":[87,154,184],"integration.":[90],"The":[91],"key":[92],"idea":[93],"is":[96,149],"speed":[98],"up":[99],"backpropagation":[100],"exploiting":[102],"prefactorized":[104],"Cholesky":[105],"decomposition":[106],"forward":[108],"simulation.":[110],"In":[111],"terms":[112],"of":[113,120,144,192,197],"contact":[114,126,185],"handling,":[115],"supports":[117],"types":[119],"contacts:":[121],"penalty-based":[123],"model":[124,133],"describing":[125],"friction":[128],"forces":[129],"complementarity-based":[132],"enforcing":[134],"non-penetration":[135],"conditions":[136],"static":[138],"friction.":[139],"evaluate":[141],"performance":[143],"observe":[147],"it":[148],"4\u201319":[150],"times":[151],"faster":[152],"compared":[153],"standard":[156],"Newton\u2019s":[157],"various":[160],"applications":[161],"including":[162],"system":[163],"identification,":[164],"inverse":[165],"design":[166],"problems,":[167],"trajectory":[168],"optimization,":[169],"closed-loop":[171],"control.":[172],"also":[174],"apply":[175],"reality-to-simulation":[179],"real-to-sim":[181],")":[182],"example":[183],"collisions":[187],"show":[189],"its":[190],"capability":[191],"reconstructing":[193],"digital":[195],"twin":[196],"real-world":[198],"scenes.":[199]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
