Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: ADD: Analytically Differentiable Dynamics for Multi-Body Systems with
  Frictional Contact   We present a differentiable dynamics solver that is able to handle frictional
contact for rigid and deformable objects within a unified framework. Through a
principled mollification of normal and tangential contact forces, our method
circumvents the main difficulties inherent to the non-smooth nature of
frictional contact. We combine this new contact model with fully-implicit time
integration to obtain a robust and efficient dynamics solver that is
analytically differentiable. In conjunction with adjoint sensitivity analysis,
our formulation enables gradient-based optimization with adaptive trade-offs
between simulation accuracy and smoothness of objective function landscapes. We
thoroughly analyse our approach on a set of simulation examples involving rigid
bodies, visco-elastic materials, and coupled multi-body systems. We furthermore
showcase applications of our differentiable simulator to parameter estimation
for deformable objects, motion planning for robotic manipulation, trajectory
optimization for compliant walking robots, as well as efficient self-supervised
learning of control policies.

25
The categories of this paper are: patt-sol
19
The categories of this paper are: eess
6
The categories of this paper are: astro-ph
36
The categories of this paper are: cmp-lg
11
The categories of this paper are: hep-lat
34
The categories of this paper are: chem-ph
17
The categories of this paper are: q-fin
37
The categories of this paper are: supr-con
18
The categories of this paper are: econ
16
The categories of this paper are: stat
27
The categories of this paper are: comp-gas
15
The categories of this paper are: nucl-ex
31
The categories of this paper are: ao-sci
29
The categories of this paper are: funct-an
14
The categories of this paper are: math-ph
26
The categories of this paper are: bayes-an