{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,29]],"date-time":"2026-05-29T11:12:42Z","timestamp":1780053162748,"version":"3.54.0"},"reference-count":40,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,9,27]]},"DOI":"10.1109\/iros51168.2021.9636783","type":"proceedings-article","created":{"date-parts":[[2021,12,16]],"date-time":"2021-12-16T20:45:38Z","timestamp":1639687538000},"page":"1694-1701","source":"Crossref","is-referenced-by-count":15,"title":["Sim2Sim Evaluation of a Novel Data-Efficient Differentiable Physics Engine for Tensegrity Robots"],"prefix":"10.1109","author":[{"given":"Kun","family":"Wang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mridul","family":"Aanjaneya","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kostas","family":"Bekris","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","author":"goldstein","year":"2001","journal-title":"Classical Mechanics"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2005.1469949"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919847763"},{"key":"ref32","article-title":"Adaptive Tensegrity Locomotion: Controlling a Compliant Icosahedron with Symmetry-Reduced Reinforcement Learning","author":"surovik","year":"2019","journal-title":"International Journal of Robotics Research (IJRR)"},{"key":"ref31","article-title":"Differentiable cloth simulation for inverse problems","author":"liang","year":"2019","journal-title":"Conference on Neural Information Processing Systems (NeurIPS)"},{"key":"ref30","article-title":"Spnets: Differentiable fluid dynamics for deep neural networks","author":"schenck","year":"2018","journal-title":"Proceedings of the Second Conference on Robot Learning (CoRL)"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2014.0520"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354134"},{"key":"ref35","article-title":"NASA Tensegrity Robotics Toolkit","year":"0"},{"key":"ref34","article-title":"Any-axis tensegrity rolling via bootstrapped learning and symmetry reduction","author":"surovik","year":"2018","journal-title":"International Symposium on Experimental Robotics (ISER)"},{"key":"ref10","article-title":"NASA&#x2019;s Latest Robot: A Rolling Tangle of Rods That Can Take a Beating","year":"0"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-387-74315-8"},{"key":"ref11","first-page":"7178","article-title":"End-to-end differentiable physics for learning and control","author":"belbute-peres","year":"2018","journal-title":"Advances in neural information processing systems"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/70.631234"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1162\/106365601750190398"},{"key":"ref14","first-page":"1","article-title":"A first principles approach for data-efficient system identification of spring-rod systems via differentiable physics engines","volume":"120","author":"wang","year":"2020","journal-title":"Machine Learning Research"},{"key":"ref15","article-title":"Augmenting differentiable simulators with neural networks to close the sim2real gap","author":"heiden","year":"2020"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386109"},{"key":"ref17","article-title":"The linear complementarity problem","author":"cottle","year":"2009","journal-title":"SIAM"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594374"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1037\/h0042519"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794358"},{"key":"ref4","article-title":"Superball: Exploring tensegrities for planetary probes","author":"bruce","year":"2014","journal-title":"12th International Symposium on Artificial Intelligence Robotics and Automation in Space (i-SAIRAS)"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2019.XV.012"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechrescom.2020.103480"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/3468.798060"},{"key":"ref29","article-title":"Jax m.d.: End-to-end differentiable, hardware accelerated, molecular dynamics in pure python","author":"schoenholz","year":"2019"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1115\/1.3423596"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1115\/1.2830597"},{"key":"ref7","article-title":"Impact: The theory and physical behaviour of colliding solids","author":"earles","year":"1961"},{"key":"ref2","article-title":"Design, simulation, and testing of a flexible actuated spine for quadruped robots","author":"sabelhaus","year":"2018"},{"key":"ref9","article-title":"Contact modelling for forward dynamics of human motion","author":"brown","year":"2017","journal-title":"Master&#x2019;s thesis"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759811"},{"key":"ref20","doi-asserted-by":"crossref","first-page":"533","DOI":"10.1038\/323533a0","article-title":"Learning representations by back-propagating errors","volume":"323","author":"rumelhart","year":"1986","journal-title":"Nature"},{"key":"ref22","first-page":"4502","article-title":"Interaction networks for learning about objects, relations and physics","author":"battaglia","year":"2016","journal-title":"Advances in neural information processing systems"},{"key":"ref21","article-title":"Vid2param: Online system identification from video for robotics applications","author":"asenov","year":"2019"},{"key":"ref24","first-page":"15 353","article-title":"Hamiltonian Neural Networks","author":"greydanus","year":"0","journal-title":"Advances in Neural IInformation Processing Systems"},{"key":"ref23","first-page":"8799","article-title":"Flexible neural representation for physics prediction","author":"mrowca","year":"2018","journal-title":"Advances in neural information processing systems"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794333"},{"key":"ref25","article-title":"Interactive differentiable simulation","author":"heiden","year":"2019"}],"event":{"name":"2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Prague, Czech Republic","start":{"date-parts":[[2021,9,27]]},"end":{"date-parts":[[2021,10,1]]}},"container-title":["2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9635848\/9635849\/09636783.pdf?arnumber=9636783","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T16:54:34Z","timestamp":1652201674000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9636783\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,27]]},"references-count":40,"URL":"https:\/\/doi.org\/10.1109\/iros51168.2021.9636783","relation":{},"subject":[],"published":{"date-parts":[[2021,9,27]]}}}