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- W4302010432 abstract "We introduce Midas, a robotics simulation framework based on the Incremental Potential Contact (IPC) model. Our simulator guarantees intersection-free, stable, and accurate resolution of frictional contact. We demonstrate the efficacy of our framework with experimental validations on high-precision tasks and through comparisons with Bullet physics. A reinforcement learning pipeline using Midas is also developed and tested to perform intersection-free peg-in-hole tasks." @default.
- W4302010432 created "2022-10-06" @default.
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- W4302010432 date "2022-09-30" @default.
- W4302010432 modified "2023-09-28" @default.
- W4302010432 title "Midas: A Multi-Joint Robotics Simulator with Intersection-Free Frictional Contact" @default.
- W4302010432 doi "https://doi.org/10.48550/arxiv.2210.00130" @default.
- W4302010432 hasPublicationYear "2022" @default.
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