Cover Image

ComFree-Sim: A GPU-Parallelized Analytical Contact Physics Engine for Scalable Contact-Rich Robotics Simulation and Control

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Borse, Chetan, Xie, Zhixian, Huang, Wei-Cheng, Jin, Wanxin
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

TwinTrack: Bridging Vision and Contact Physics for Real-Time Tracking of Unknown Objects in Contact-Rich Scenes
by: Yang, Wen, et al.
Published: (2025)

Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation
by: Jin, Wanxin
Published: (2024)

Where to Touch, How to Contact: Hierarchical RL-MPC Framework for Geometry-Aware Long-Horizon Dexterous Manipulation
by: Xie, Zhixian, et al.
Published: (2026)

Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning
by: Huang, Wei-Cheng, et al.
Published: (2023)

ContactSDF: Signed Distance Functions as Multi-Contact Models for Dexterous Manipulation
by: Yang, Wen, et al.
Published: (2024)

Parallel Simulation of Contact and Actuation for Soft Growing Robots
by: Gao, Yitian, et al.
Published: (2025)

Just Add Force for Contact-Rich Robot Policies
by: Xie, William, et al.
Published: (2024)

RoDiF: Robust Direct Fine-Tuning of Diffusion Policies with Corrupted Human Feedback
by: Vatsa, Amitesh, et al.
Published: (2026)

HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation
by: Wei, Lai, et al.
Published: (2025)

ContactGaussian-WM: Learning Physics-Grounded World Model from Videos
by: Wang, Meizhong, et al.
Published: (2026)

Direction Matters: Learning Force Direction Enables Sim-to-Real Contact-Rich Manipulation
by: Yang, Yifei, et al.
Published: (2026)

A Contact-Safe Reinforcement Learning Framework for Contact-Rich Robot Manipulation
by: Zhu, Xiang, et al.
Published: (2022)

Language-Model-Assisted Bi-Level Programming for Reward Learning from Internet Videos
by: Mahesheka, Harsh, et al.
Published: (2024)

Few-Shot Neural Differentiable Simulator: Real-to-Sim Rigid-Contact Modeling
by: Huang, Zhenhao, et al.
Published: (2026)

TAMEn: Tactile-Aware Manipulation Engine for Closed-Loop Data Collection in Contact-Rich Tasks
by: Wu, Longyan, et al.
Published: (2026)

DexDrummer: In-Hand, Contact-Rich, and Long-Horizon Dexterous Robot Drumming
by: Fang, Hung-Chieh, et al.
Published: (2026)

Consensus Complementarity Control for Multi-Contact MPC
by: Aydinoglu, Alp, et al.
Published: (2023)

IsaacIPC: Coupling High-Fidelity Simulation and Realistic Rendering for Contact-Rich Robotic Systems
by: Liang, Qixin, et al.
Published: (2026)

Dexterous Contact-Rich Manipulation via the Contact Trust Region
by: Suh, H. J. Terry, et al.
Published: (2025)

Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation
by: Leve, Victor, et al.
Published: (2024)

ComSim: Building Scalable Real-World Robot Data Generation via Compositional Simulation
by: Qin, Yiran, et al.
Published: (2026)

CoRAL: Contact-Rich Adaptive LLM-based Control for Robotic Manipulation
by: Çiçek, Berk, et al.
Published: (2026)

A Magnetic-Actuated Vision-Based Whisker Array for Contact Perception and Grasping
by: Hu, Zhixian, et al.
Published: (2025)

Differentiable Simulation of Soft Robots with Frictional Contacts
by: Ménager, Etienne, et al.
Published: (2025)

ARCH: Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly
by: Sun, Jiankai, et al.
Published: (2024)

Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization
by: Zhang, Zhe, et al.
Published: (2026)

Contact-Rich Robotic Assembly in Construction via Diffusion Policy Learning
by: Mozaffari, Salma, et al.
Published: (2025)

Passivity-Centric Safe Reinforcement Learning for Contact-Rich Robotic Tasks
by: Zhang, Heng, et al.
Published: (2025)

Master Micro Residual Correction with Adaptive Tactile Fusion and Force-Mixed Control for Contact-Rich Manipulation
by: Li, Xingting, et al.
Published: (2026)

ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface
by: Liu, Fangchen, et al.
Published: (2025)

A Physically Consistent Stiffness Formulation for Contact-Rich Manipulation
by: Lachner, Johannes, et al.
Published: (2025)

Simulation-Driven Evolutionary Motion Parameterization for Contact-Rich Granular Scooping with a Soft Conical Robotic Hand
by: Wang, Yongliang, et al.
Published: (2026)

Variations of Augmented Lagrangian for Robotic Multi-Contact Simulation
by: Lee, Jeongmin, et al.
Published: (2025)

OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation
by: Zheng, Yuhang, et al.
Published: (2026)

FoAR: Force-Aware Reactive Policy for Contact-Rich Robotic Manipulation
by: He, Zihao, et al.
Published: (2024)

ShapeForce: Low-Cost Soft Robotic Wrist for Contact-Rich Manipulation
by: Zhu, Jinxuan, et al.
Published: (2025)

Physically-Consistent Parameter Identification of Robots in Contact
by: Khorshidi, Shahram, et al.
Published: (2024)

Self-Supervised Multisensory Pretraining for Contact-Rich Robot Reinforcement Learning
by: Krohn, Rickmer, et al.
Published: (2025)

DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation
by: Si, Zilin, et al.
Published: (2024)

Contact Tooling Manipulation Control for Robotic Repair Platform
by: Lee, Joong-Ku, et al.
Published: (2024)