On the Numerical Reliability of Differentiable Physics-Based Optimization for Robotic Material Manipulation
These results motivate reproducible accumulation, finite-difference validation that compares perturbation-induced loss changes with repeated-run variation, and explicit reporting of objective construction when differentiable simulation is used for robotic optimization.
Xin-Tong Yang, Ming-Lun Wei, Yu-Kun Lai et al.
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