Publications using Warp#

This page highlights a growing collection of academic and research publications that leverage the capabilities of Warp. If your work utilizes Warp, we encourage you to share it with us. To add your publication to this list, please open a pull request on GitHub or email a link to your arXiv preprint (preferred) or DOI to warp-python@nvidia.com.

2025#

  • FOCI: Trajectory Optimization on Gaussian Splats. M. G. Andreu, M. Wilder-Smith, V. Klemm, V. Patil, J. Tordesillas, M. Hutter. May 2025. arXiv:2505.08510

  • Dynamic Robot Tool Use with Vision Language Models. N. Trupin, Z. Wang, A. H. Qureshi. May 2025. arXiv:2505.01399

  • AI-Enhanced Automatic Design of Efficient Underwater Gliders. P. Y. Chen, P. Ma, N. Hagemann, J. Romanishin, W. Wang, D. Rus, W. Matusik. April 2025. arXiv:2505.00222

  • Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy. J. Chen, Y. Ke, L. Peng, H. Wang. April 2025. arXiv:2504.18829

  • Bolt: Clothing Virtual Characters at Scale. J. Leaf, D. S. Minor, G. Daviet, N. Chentanez, G. Klar, E. Quigley. April 2025. arXiv:2504.17614

  • Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation. Y. Li, W. Du, C. Yu, P. Li, Z. Zhao, T. Liu, C. Jiang, Y. Zhu, S. Huang. April 2025. arXiv:2504.12908

  • Real-is-Sim: Bridging the Sim-to-Real Gap with a Dynamic Digital Twin for Real-World Robot Policy Evaluation. J. Abou-Chakra, L. Sun, K. Rana, B. May, K. Schmeckpeper, M. V. Minniti, L. Herlant. April 2025. arXiv:2504.03597

  • Articulated Kinematics Distillation from Video Diffusion Models. X. Li, Q. Ma, T. Lin, Y. Chen, C. Jiang, M. Liu, D. Xiang. April 2025. arXiv:2504.01204

  • FF-SRL: High Performance GPU-Based Surgical Simulation For Robot Learning. D. Dall’ Alba, M. Nasket, S. Kaminska, P. Korzeniowski. October 2025. arXiv:2503.18616

  • PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos. H. Jiang, H. Hsu, K. Zhang, H. Yu, S. Wang, Y. Li. March 2025. arXiv:2503.17973

  • VMTS: Vision-Assisted Teacher-Student Reinforcement Learning for Multi-Terrain Locomotion in Bipedal Robots. F. Chen, R. Wan, P. Liu, N. Zheng, B. Zhou. March 2025. arXiv:2503.07049

  • DecoupledGaussian: Object-Scene Decoupling for Physics-Based Interaction. M. Wang, Y. Zhang, R. Ma, W. Xu, C. Zou, D. Morris. March 2025. arXiv:2503.05484

  • GAGrasp: Geometric Algebra Diffusion for Dexterous Grasping. T. Zhong, C. Allen-Blanchette. March 2025. arXiv:2503.04123

  • Aerial Gym Simulator: A Framework for Highly Parallelized Simulation of Aerial Robots. M. Kulkarni, W. Rehberg, K. Alexis. March 2025. arXiv:2503.01471

  • OceanSim: A GPU-Accelerated Underwater Robot Perception Simulation Framework. J. Song, H. Ma, O. Bagoren, A. V. Sethuraman, Y. Zhang, K. A. Skinner. March 2025. arXiv:2503.01074

  • Factorized Implicit Global Convolution for Automotive Computational Fluid Dynamics Prediction. C. Choy, A. Kamenev, J. Kossaifi, M. Rietmann, J. Kautz, K. Azizzadenesheli. February 2025. arXiv:2502.04317

  • Dress-1-to-3: Single Image to Simulation-Ready 3D Outfit with Diffusion Prior and Differentiable Physics. X. Li, C. Yu, W. Du, Y. Jiang, T. Xie, Y. Chen, Y. Yang, C. Jiang. February 2025. arXiv:2502.03449

  • OmniPhysGS: 3D Constitutive Gaussians for General Physics-Based Dynamics Generation. Y. Lin, C. Lin, J. Xu, Y. Mu. January 2025. arXiv:2501.18982

2024#

  • Atlas3D: Physically Constrained Self-Supporting Text-to-3D for Simulation and Fabrication. Y. Chen, T. Xie, Z. Zong, X. Li, F. Gao, Y. Yang, Y. N. Wu, C. Jiang. May 2024. arXiv:2405.18515

  • GarmentCodeData: A Dataset of 3D Made-to-Measure Garments With Sewing Patterns. M. Korosteleva, T. L. Kesdogan, F. Kemper, S. Wenninger, J. Koller, Y. Zhang, M. Botsch, O. Sorkine-Hornung. May 2024. arXiv:2405.17609

  • LLM and Simulation as Bilevel Optimizers: A New Paradigm to Advance Physical Scientific Discovery. P. Ma, T. Wang, M. Guo, Z. Sun, J. B. Tenenbaum, D. Rus, C. Gan, W. Matusik. May 2024. arXiv:2405.09783

  • ChatGarment: Garment Estimation, Generation and Editing via Large Language Models. S. Bian, C. Xu, Y. Xiu, A. Grigorev, Z. Liu, C. Lu, M. J. Black, Y. Feng. December 2024. arXiv:2412.17811

  • Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation. E. Xing, V. Luk, J. Oh. December 2024. arXiv:2412.12089

  • AIpparel: A Multimodal Foundation Model for Digital Garments. K. Nakayama, J. Ackermann, T. L. Kesdogan, Y. Zheng, M. Korosteleva, O. Sorkine-Hornung, L. J. Guibas, G. Yang, G. Wetzstein. December 2024. arXiv:2412.03937

  • DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands. R. Singh, A. Allshire, A. Handa, N. Ratliff, K. Van Wyk. November 2024. arXiv:2412.01791

  • One-Shot Real-to-Sim via End-to-End Differentiable Simulation and Rendering. Y. Zhu, T. Xiang, A. Dollar, Z. Pan. November 2024. arXiv:2412.00259

  • DiffSim2Real: Deploying Quadrupedal Locomotion Policies Purely Trained in Differentiable Simulation. J. Bagajo, C. Schwarke, V. Klemm, I. Georgiev, J. Sleiman, J. Tordesillas, A. Garg, M. Hutter. November 2024. arXiv:2411.02189

  • Neurally Integrated Finite Elements for Differentiable Elasticity on Evolving Domains. G. Daviet, T. Shen, N. Sharp, D. I. W. Levin. April 2024. arXiv:2410.09417

  • Learning Object Properties Using Robot Proprioception via Differentiable Robot-Object Interaction. P. Y. Chen, C. Liu, P. Ma, J. Eastman, D. Rus, D. Randle, Y. Ivanov, W. Matusik. October 2024. arXiv:2410.03920

  • Hardware-Accelerated Ray Tracing for Discrete and Continuous Collision Detection on GPUs. S. Sui, L. Sentis, A. Bylard. September 2024. arXiv:2409.09918

  • UKAN: Unbound Kolmogorov-Arnold Network Accompanied with Accelerated Library. A. Moradzadeh, L. Wawrzyniak, M. Macklin, S. G. Paliwal. August 2024. arXiv:2408.11200

  • Learning a Shape-Conditioned Agent for Purely Tactile In-Hand Manipulation of Various Objects. J. Pitz, L. Röstel, L. Sievers, D. Burschka, B. Bäuml. July 2024. arXiv:2407.18834

  • A Review of Differentiable Simulators. R. Newbury, J. Collins, K. He, J. Pan, I. Posner, D. Howard, A. Cosgun. July 2024. arXiv:2407.05560

  • Physically Embodied Gaussian Splatting: A Realtime Correctable World Model for Robotics. J. Abou-Chakra, K. Rana, F. Dayoub, N. Sünderhauf. June 2024. arXiv:2406.10788

  • DreamPhysics: Learning Physics-Based 3D Dynamics with Video Diffusion Priors. T. Huang, H. Zhang, Y. Zeng, Z. Zhang, H. Li, W. Zuo, R. W. H. Lau. June 2024. arXiv:2406.01476

  • PhysDreamer: Physics-Based Interaction with 3D Objects via Video Generation. T. Zhang, H. Yu, R. Wu, B. Y. Feng, C. Zheng, N. Snavely, J. Wu, W. T. Freeman. April 2024. arXiv:2404.13026

  • Differentiable Rendering as a Way to Program Cable-Driven Soft Robots. K. Arnavaz, K. Erleben. April 2024. arXiv:2404.07590

  • Learning Quadrupedal Locomotion via Differentiable Simulation. C. Schwarke, V. Klemm, J. Tordesillas, J. Sleiman, M. Hutter. April 2024. arXiv:2404.02887

  • Sailing Through Point Clouds: Safe Navigation Using Point Cloud Based Control Barrier Functions. B. Dai, R. Khorrambakht, P. Krishnamurthy, F. Khorrami. March 2024. arXiv:2403.18206

  • Fast Explicit-Input Assistance for Teleoperation in Clutter. N. Walker, X. Yang, A. Garg, M. Cakmak, D. Fox, C. Pérez-D’ Arpino. February 2024. arXiv:2402.02612

  • Diffusion Texture Painting. A. Hu, N. Desai, H. Abu Alhaija, S. W. Kim, M. Shugrina. July 2024. DOI:10.1145/3641519.3657458

  • Adaptive Distributed Simulation of Fluids and Rigid Bodies. H. Shi, V. Zordan, Y. Yang, S. Andrews. November 2024. DOI:10.1145/3677388.3696334

2023#

  • IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality. B. Tang, M. A. Lin, I. Akinola, A. Handa, G. S. Sukhatme, F. Ramos, D. Fox, Y. Narang. May 2023. arXiv:2305.17110

  • FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects. B. Wen, W. Yang, J. Kautz, S. Birchfield. December 2023. arXiv:2312.08344

  • HandyPriors: Physically Consistent Perception of Hand-Object Interactions with Differentiable Priors. S. Zhang, Y. Qiao, G. Zhu, E. Heiden, D. Turpin, J. Liu, M. Lin, M. Macklin, A. Garg. November 2023. arXiv:2311.16552

  • PhysGaussian: Physics-Integrated 3D Gaussians for Generative Dynamics. T. Xie, Z. Zong, Y. Qiu, X. Li, Y. Feng, Y. Yang, C. Jiang. November 2023. arXiv:2311.12198

  • Neural Stress Fields for Reduced-order Elastoplasticity and Fracture. Z. Zong, X. Li, M. Li, M. M. Chiaramonte, W. Matusik, E. Grinspun, K. Carlberg, C. Jiang, P. Y. Chen. December 2023. arXiv:2310.17790

  • STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent. Y. Lee, A. Z. Li, P. Huang, E. Heiden, K. M. Jatavallabhula, F. Damken, K. Smith, D. Nowrouzezahrai, F. Ramos, F. Shkurti. October 2023. arXiv:2310.01775

  • Task-driven Compression for Collision Encoding based on Depth Images. M. Kulkarni, K. Alexis. September 2023. arXiv:2309.05289

  • Dynamic Mesh-Aware Radiance Fields. Y. Qiao, A. Gao, Y. Xu, Y. Feng, J. Huang, M. C. Lin. September 2023. arXiv:2309.04581

  • PHYFU: Fuzzing Modern Physics Simulation Engines. D. Xiao, Z. Liu, S. Wang. July 2023. arXiv:2307.10818

  • ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots. D. Hoeller, N. Rudin, D. Sako, M. Hutter. June 2023. arXiv:2306.14874

  • Fast-Grasp’ D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation. D. Turpin, T. Zhong, S. Zhang, G. Zhu, J. Liu, R. Singh, E. Heiden, M. Macklin, S. Tsogkas, S. Dickinson, A. Garg. June 2023. arXiv:2306.08132

  • Improving Gradient Computation for Differentiable Physics Simulation with Contacts. Y. D. Zhong, J. Han, B. Dey, G. O. Brikis. April 2023. arXiv:2305.00092

  • SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos. J. Z. Zhang, S. Yang, G. Yang, A. L. Bishop, D. Ramanan, Z. Manchester. April 2023. arXiv:2304.14389

  • Learning Neural Constitutive Laws From Motion Observations for Generalizable PDE Dynamics. P. Ma, P. Y. Chen, B. Deng, J. B. Tenenbaum, T. Du, C. Gan, W. Matusik. April 2023. arXiv:2304.14369

  • ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills. J. Gu, F. Xiang, X. Li, Z. Ling, X. Liu, T. Mu, Y. Tang, S. Tao, X. Wei, Y. Yao, X. Yuan, P. Xie, Z. Huang, R. Chen, H. Su. February 2023. arXiv:2302.04659

2022#

  • NODE IK: Solving Inverse Kinematics with Neural Ordinary Differential Equations for Path Planning. S. Park, M. Schwartz, J. Park. September 2022. arXiv:2209.00498

  • Differentiable Physics Simulations with Contacts: Do They Have Correct Gradients w.r.t. Position, Velocity and Control?. Y. D. Zhong, J. Han, G. O. Brikis. July 2022. arXiv:2207.05060

  • Rethinking Optimization with Differentiable Simulation from a Global Perspective. R. Antonova, J. Yang, K. M. Jatavallabhula, J. Bohg. June 2022. arXiv:2207.00167

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