├── .gitignore ├── CITATION.bib ├── LICENSE ├── README.md ├── poster.pdf ├── requirements.txt ├── requirements_freeze.txt ├── task1_bounce_once ├── README.md ├── _bounce_once_brax.py ├── _bounce_once_warp.py ├── analyze_bounce_once.ipynb ├── bounce_once.yaml ├── bounce_once_convexopt_diffcosim.py ├── bounce_once_lcp_nimble.py ├── bounce_once_pbd_brax.py ├── bounce_once_pbd_warp.py ├── bounce_once_soft_brax.py ├── bounce_once_soft_warp.py ├── bounce_once_specialized_difftaichi.py ├── figures │ └── bounce_once_traj.png └── get_all_grads.sh ├── task2_bounce_ground_wall ├── README.md ├── __init__.py ├── _ground_wall_brax.py ├── _ground_wall_warp.py ├── analyze_bounce_ground.ipynb ├── figures │ └── ground_wall_init_traj.png ├── get_all_grads.sh ├── ground_wall.yaml ├── ground_wall_convexopt_diffcosim.py ├── ground_wall_lcp_nimble.py ├── ground_wall_pbd_brax.py ├── ground_wall_pbd_warp.py ├── ground_wall_soft_brax.py ├── ground_wall_soft_warp.py ├── ground_wall_specialized_difftaichi.py ├── train_all.sh └── train_all_friction.sh ├── task3_two_balls ├── README.md ├── _two_balls_1_brax.py ├── _two_balls_1_warp.py ├── analyze_two_balls_1.ipynb ├── figures │ ├── two_balls_loss_ctrls.png │ └── two_balls_traj.png ├── get_all_grads.sh ├── train_all.sh ├── two_balls_1.yaml ├── two_balls_1_convexopt_diffcosim.py ├── two_balls_1_lcp_nimble.py ├── two_balls_1_pbd_brax.py ├── two_balls_1_pbd_warp.py ├── two_balls_1_soft_brax.py ├── two_balls_1_soft_warp.py └── two_balls_1_specialized_difftaichi.py └── utils ├── __init__.py ├── customized_integrator_euler.py └── customized_integrator_xpbd.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DesmondZhong/diff_sim_grads/HEAD/.gitignore -------------------------------------------------------------------------------- /CITATION.bib: -------------------------------------------------------------------------------- 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