Miles Macklin

70 papers A* 8C 5Misc 2Journal 42Unranked 13
YearRankTypeTitle / Venue / Authors
2025 J jnl
Neural Robot Dynamics.
CoRR
Jie Xu, Eric Heiden, Iretiayo Akinola, Dieter Fox, Miles Macklin, Yashraj Narang
2025 J jnl
Offset Geometric Contact.
ACM Trans. Graph.
Anka He Chen, Jerry Hsu, Ziheng Liu, Miles Macklin, Yin Yang, Cem Yuksel
2025 A* conf
SimAvatar: Simulation-Ready Avatars with Layered Hair and Clothing.
CVPR
Xueting Li, Ye Yuan, Shalini De Mello, Gilles Daviet, Jonathan Leaf, Miles Macklin, Jan Kautz, Umar Iqbal
2024 A* conf
HandyPriors: Physically Consistent Perception of Hand-Object Interactions with Differentiable Priors.
ICRA
Shutong Zhang, Yi-Ling Qiao, Guanglei Zhu, Eric Heiden, Dylan Turpin, Jingzhou Liu, Ming C. Lin, Miles Macklin, Animesh Garg
2024 J jnl
SimAvatar: Simulation-Ready Avatars with Layered Hair and Clothing.
CoRR
Xueting Li, Ye Yuan, Shalini De Mello, Gilles Daviet, Jonathan Leaf, Miles Macklin, Jan Kautz, Umar Iqbal
2024 J jnl
UKAN: Unbound Kolmogorov-Arnold Network Accompanied with Accelerated Library.
CoRR
Alireza Moradzadeh, Lukasz Wawrzyniak, Miles Macklin, Saee Gopal Paliwal
2024 — conf
Warp: Differentiable Spatial Computing for Python.
SIGGRAPH Courses
Miles Macklin
2023 J jnl
DiSECt: a differentiable simulator for parameter inference and control in robotic cutting.
Auton. Robots
Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos
2023 J jnl
Differentiable Depth for Real2Sim Calibration of Soft Body Simulations.
Comput. Graph. Forum
Kasra Arnavaz, Max Kragballe Nielsen, Paul G. Kry, Miles Macklin, Kenny Erleben
2023 A* conf
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation.
ICRA
Dylan Turpin, Tao Zhong, Shutong Zhang, Guanglei Zhu, Eric Heiden, Miles Macklin, Stavros Tsogkas, Sven J. Dickinson, Animesh Garg
2023 J jnl
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation.
CoRR
Dylan Turpin, Tao Zhong, Shutong Zhang, Guanglei Zhu, Jingzhou Liu, Ritvik Singh, Eric Heiden, Miles Macklin, Stavros Tsogkas, Sven J. Dickinson, Animesh Garg
2023 J jnl
HandyPriors: Physically Consistent Perception of Hand-Object Interactions with Differentiable Priors.
CoRR
Shutong Zhang, Yi-Ling Qiao, Guanglei Zhu, Eric Heiden, Dylan Turpin, Jingzhou Liu, Ming C. Lin, Miles Macklin, Animesh Garg
2022 A* conf
Accelerated Policy Learning with Parallel Differentiable Simulation.
ICLR
Jie Xu, Viktor Makoviychuk, Yashraj Narang, Fabio Ramos, Wojciech Matusik, Animesh Garg, Miles Macklin
2022 J jnl
Accelerated Policy Learning with Parallel Differentiable Simulation.
CoRR
Jie Xu, Viktor Makoviychuk, Yashraj Narang, Fabio T. Ramos, Wojciech Matusik, Animesh Garg, Miles Macklin
2022 Misc conf
Bayesian Object Models for Robotic Interaction with Differentiable Probabilistic Programming.
CoRL
Krishna Murthy Jatavallabhula, Miles Macklin, Dieter Fox, Animesh Garg, Fabio Ramos
2022 J jnl
DefGraspSim: Physics-Based Simulation of Grasp Outcomes for 3D Deformable Objects.
IEEE Robotics Autom. Lett.
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox
2022 J jnl
DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects.
CoRR
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox
2022 J jnl
DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting.
CoRR
Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos
2022 — conf
Factory: Fast Contact for Robotic Assembly.
Robotics: Science and Systems
Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Ádám Moravánszky, Gavriel State, Michelle Lu, Ankur Handa, Dieter Fox
2022 J jnl
Factory: Fast Contact for Robotic Assembly.
CoRR
Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Ádám Moravánszky, Gavriel State, Michelle Lu, Ankur Handa, Dieter Fox
2022 — conf
Grasp'D: Differentiable Contact-Rich Grasp Synthesis for Multi-Fingered Hands.
ECCV (6)
Dylan Turpin, Liquan Wang, Eric Heiden, Yun-Chun Chen, Miles Macklin, Stavros Tsogkas, Sven J. Dickinson, Animesh Garg
2022 J jnl
Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands.
CoRR
Dylan Turpin, Liquan Wang, Eric Heiden, Yun-Chun Chen, Miles Macklin, Stavros Tsogkas, Sven J. Dickinson, Animesh Garg
2022 J jnl
Learning Physics with a Hierarchical Graph Network.
Comput. Graph. Forum
Nuttapong Chentanez, Stefan Jeschke, Matthias Müller, Miles Macklin
2022 J jnl
Physically Based Shape Matching.
Comput. Graph. Forum
Matthias Müller, Miles Macklin, Nuttapong Chentanez, Stefan Jeschke
2021 C conf
A Constraint-based Formulation of Stable Neo-Hookean Materials.
MIG
Miles Macklin, Matthias Müller
2021 J jnl
DefGraspSim: Simulation-based grasping of 3D deformable objects.
CoRR
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Tucker Hermans, Dieter Fox
2021 — conf
DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting.
Robotics: Science and Systems
Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos
2021 J jnl
DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting.
CoRR
Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos
2021 — conf
Isaac Gym: High Performance GPU Based Physics Simulation For Robot Learning.
NeurIPS Datasets and Benchmarks
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, Gavriel State
2021 J jnl
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning.
CoRR
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, Gavriel State
2021 A* conf
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections.
ICRA
Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox
2021 J jnl
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections.
CoRR
Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox
2021 A* conf
gradSim: Differentiable simulation for system identification and visuomotor control.
ICLR
J. Krishna Murthy, Miles Macklin, Florian Golemo, Vikram Voleti, Linda Petrini, Martin Weiss, Breandan Considine, Jérôme Parent-Lévesque, Kevin Xie, Kenny Erleben, Liam Paull, Florian Shkurti, Derek Nowrouzezahrai, Sanja Fidler
2021 J jnl
gradSim: Differentiable simulation for system identification and visuomotor control.
CoRR
Krishna Murthy Jatavallabhula, Miles Macklin, Florian Golemo, Vikram Voleti, Linda Petrini, Martin Weiss, Breandan Considine, Jérôme Parent-Lévesque, Kevin Xie, Kenny Erleben, Liam Paull, Florian Shkurti, Derek Nowrouzezahrai, Sanja Fidler
2020 J jnl
Cloth and Skin Deformation with a Triangle Mesh Based Convolutional Neural Network.
Comput. Graph. Forum
Nuttapong Chentanez, Miles Macklin, Matthias Müller, Stefan Jeschke, Tae-Yong Kim
2020 J jnl
Detailed Rigid Body Simulation with Extended Position Based Dynamics.
Comput. Graph. Forum
Matthias Müller, Miles Macklin, Nuttapong Chentanez, Stefan Jeschke, Tae-Yong Kim
2020 J jnl
Local Optimization for Robust Signed Distance Field Collision.
Proc. ACM Comput. Graph. Interact. Tech.
Miles Macklin, Kenny Erleben, Matthias Müller, Nuttapong Chentanez, Stefan Jeschke, Zach Corse
2020 J jnl
Making Procedural Water Waves Boundary-aware.
Comput. Graph. Forum
Stefan Jeschke, Christian Hafner, Nuttapong Chentanez, Miles Macklin, Matthias Müller-Fischer, Christopher Wojtan
2020 J jnl
Primal/Dual Descent Methods for Dynamics.
Comput. Graph. Forum
Miles Macklin, Kenny Erleben, Matthias Müller, Nuttapong Chentanez, Stefan Jeschke, Tae-Yong Kim
2020 J jnl
The Matchstick Model for Anisotropic Friction Cones.
Comput. Graph. Forum
Kenny Erleben, Miles Macklin, Sheldon Andrews, Paul G. Kry
2019 A* conf
A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes.
ICRA
Renato Gasoto, Miles Macklin, Xuan Liu, Yinan Sun, Kenny Erleben, Cagdas D. Onal, Jie Fu
2019 J jnl
A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes.
CoRR
Renato Gasoto, Miles Macklin, Xuan Liu, Yinan Sun, Kenny Erleben, Cagdas D. Onal, Jie Fu
2019 A* conf
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience.
ICRA
Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan D. Ratliff, Dieter Fox
2019 J jnl
Non-Smooth Newton Methods for Deformable Multi-Body Dynamics.
CoRR
Miles Macklin, Kenny Erleben, Matthias Müller, Nuttapong Chentanez, Stefan Jeschke, Viktor Makoviychuk
2019 J jnl
Non-smooth Newton Methods for Deformable Multi-body Dynamics.
ACM Trans. Graph.
Miles Macklin, Kenny Erleben, Matthias Müller, Nuttapong Chentanez, Stefan Jeschke, Viktor Makoviychuk
2019 — conf
Small steps in physics simulation.
Symposium on Computer Animation
Miles Macklin, Kier Storey, Michelle Lu, Pierre Terdiman, Nuttapong Chentanez, Stefan Jeschke, Matthias Müller
2019 J jnl
VIPER: Volume Invariant Position-based Elastic Rods.
CoRR
Baptiste Angles, Daniel Rebain, Miles Macklin, Brian Wyvill, Loic Barthe, John P. Lewis, Javier von der Pahlen, Shahram Izadi, Julien P. C. Valentin, Sofien Bouaziz, Andrea Tagliasacchi
2019 J jnl
VIPER: Volume Invariant Position-based Elastic Rods.
Proc. ACM Comput. Graph. Interact. Tech.
Baptiste Angles, Daniel Rebain, Miles Macklin, Brian Wyvill, Loic Barthe, John P. Lewis, Javier von der Pahlen, Shahram Izadi, Julien P. C. Valentin, Sofien Bouaziz, Andrea Tagliasacchi
2018 J jnl
Cable Joints.
Comput. Graph. Forum
Matthias Müller, Nuttapong Chentanez, Stefan Jeschke, Miles Macklin
2018 J jnl
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience.
CoRR
Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan D. Ratliff, Dieter Fox
2018 Misc conf
GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning.
CoRL
Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox
2018 J jnl
GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning.
CoRR
Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox
2018 C conf
Physics-based motion capture imitation with deep reinforcement learning.
MIG
Nuttapong Chentanez, Matthias Müller, Miles Macklin, Viktor Makoviychuk, Stefan Jeschke
2018 J jnl
Water surface wavelets.
ACM Trans. Graph.
Stefan Jeschke, Tomás Skrivan, Matthias Müller-Fischer, Nuttapong Chentanez, Miles Macklin, Chris Wojtan
2017 — conf
A Survey on Position Based Dynamics.
Eurographics (Tutorials)
Jan Bender, Matthias Müller, Miles Macklin
2017 — conf
Large-scale interactive water simulation with directional waves.
SIGGRAPH Real Time Live!
Chris Wojtan, Stefan Jeschke, Nuttapong Chentanez, Miles Macklin, Matthias Müller-Fischer
2017 — conf
Long range constraints for rigid body simulations.
Symposium on Computer Animation
Matthias Müller, Nuttapong Chentanez, Miles Macklin, Stefan Jeschke
2016 C conf
A robust method to extract the rotational part of deformations.
MIG
Matthias Müller, Jan Bender, Nuttapong Chentanez, Miles Macklin
2016 J jnl
GPU accelerated grid-free surface tracking.
Comput. Graph.
Nuttapong Chentanez, Matthias Müller, Miles Macklin
2016 — conf
Real-time simulation of large elasto-plastic deformation with shape matching.
Symposium on Computer Animation
Nuttapong Chentanez, Matthias Müller, Miles Macklin
2016 C conf
Simulating visual geometry.
MIG
Matthias Müller, Nuttapong Chentanez, Miles Macklin
2016 C conf
XPBD: position-based simulation of compliant constrained dynamics.
MIG
Miles Macklin, Matthias Müller, Nuttapong Chentanez
2015 J jnl
Air meshes for robust collision handling.
ACM Trans. Graph.
Matthias Müller, Nuttapong Chentanez, Tae-Yong Kim, Miles Macklin
2015 J jnl
Fast grid-free surface tracking.
ACM Trans. Graph.
Nuttapong Chentanez, Matthias Müller, Miles Macklin, Tae-Yong Kim
2015 — conf
Grid-Free Surface Tracking on the GPU.
VRIPHYS
Nuttapong Chentanez, Matthias Müller, Miles Macklin, Tae-Yong Kim
2015 — conf
Position-Based Simulation Methods in Computer Graphics.
Eurographics (Tutorials)
Jan Bender, Matthias Müller, Miles Macklin
2014 J jnl
A Survey on Position-Based Simulation Methods in Computer Graphics.
Comput. Graph. Forum
Jan Bender, Matthias Müller, Miguel A. Otaduy, Matthias Teschner, Miles Macklin
2014 — conf
Strain Based Dynamics.
Symposium on Computer Animation
Matthias Müller, Nuttapong Chentanez, Tae-Yong Kim, Miles Macklin
2014 J jnl
Unified particle physics for real-time applications.
ACM Trans. Graph.
Miles Macklin, Matthias Müller, Nuttapong Chentanez, Tae-Yong Kim
2013 J jnl
Position based fluids.
ACM Trans. Graph.
Miles Macklin, Matthias Müller