DiffGIPC: Differentiable Mixed-Coordinate Contact Dynamics on GPU
Overview
DiffGIPC is a GPU-accelerated framework for contact dynamics, optimizing interactions between deformable and nearly rigid bodies with efficient backward differentiation and a coupled FEM-affine adjoint system, achieving significant speedups in simulation and optimization tasks. It addresses limitations of existing methods by reducing computational costs and ensuring reliable non-penetration enforcement in contact-rich inverse problems. The paper is available on arXiv:2610.19091v1.
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- arXiv Robotics — research abstractsDiffGIPC: Differentiable Mixed-Coordinate Contact Dynamics on GPU
This paper presents DiffGIPC, a GPU-accelerated differentiable framework for contact dynamics that optimizes interactions between deformable and nearly rigid bodies. It addresses limitations of existing methods by reducing computational costs through efficient backward differentiation and a coupled FEM-affine adjoint system, achieving significant speedups in simulation and optimization tasks.
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