Interactive Differentiable Simulation. - Eric Heiden; David Millard 001; Hejia Zhang; Gaurav S. Sukhatme (CoRR, 2019)

Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics. - David Millard 001; Eric Heiden; Shubham Agrawal; Gaurav S. Sukhatme (CoRR, 2020)

Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap. - Eric Heiden; David Millard 001; Erwin Coumans; Gaurav S. Sukhatme (CoRR, 2020)

NeuralSim: Augmenting Differentiable Simulators with Neural Networks. - Eric Heiden; David Millard 001; Erwin Coumans; Yizhou Sheng; Gaurav S. Sukhatme (ICRA, 2021)

Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation. - Eric Heiden; Christopher E. Denniston; David Millard 001; Fabio Ramos 001; Gaurav S. Sukhatme (ICRA, 2022)

Tracking Fast Trajectories with a Deformable Object using a Learned Model. - James A. Preiss; David Millard 001; Tao Yao; Gaurav S. Sukhatme (ICRA, 2022)

Parameter Estimation for Deformable Objects in Robotic Manipulation Tasks. - David Millard 001; James A. Preiss; Jernej Barbic; Gaurav S. Sukhatme (ISRR, 2022)

GranularGym: High Performance Simulation for Robotic Tasks with Granular Materials. - David Millard 001; Daniel Pastor 001; Joseph Bowkett; Paul Backes; Gaurav S. Sukhatme (Robotics: Science and Systems, 2023)

Granular Gym: High Performance Simulation for Robotic Tasks with Granular Materials. - David Millard 001; Daniel Pastor 001; Joseph Bowkett; Paul Backes; Gaurav S. Sukhatme (CoRR, 2023)

CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning. - Jeremy Morgan; David Millard 001; Gaurav S. Sukhatme (ICRA, 2024)