Publications
2021
A Constraint-based Formulation of Stable Neo-Hookean Materials, Miles Macklin, Matthias Müller, Motion in Games, 2021
[Paper][Supplemental][Video][Demo]
DiSeCT: A Differentiable Simulation Engine for Autonomous Robotic Cutting, Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos, RSS, 2021
[arXiv][Site]
GradSim: Differentiable Simulation for System Identification and Visuomotor Control, Krishna Murthy Jatavallabhula, Miles Macklin, Florian Golemo, Vikram Voleti, Linda Petrini, Martin Weiss, Breandan Considine, Jerome Parent-Levesque, Kevin Xie, Kenny Erleben, Liam Paull, Florian Shkurti, Derek Nowrouzezahrai, Sanja Fidler, ICLR, 2021
[arXiv][Site]
Sim-to-Real for Robotic Tactile Sensing via Physics-based Simulation and Learned Latent Projections, Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox, ICRA, 2021
[arXiv][YouTube]
Differentiable Physics Simulation for Learning and Robotics, Miles Macklin, NVIDIA GTC Talk, 2021
[Stream][Slides]
2020
Primal/Dual Descent Methods for Dynamics, Miles Macklin, Kenny Erleben, Matthias Müller, Nuttapong Chentanez, Stefan Jeschke, Tae-Yong Kim, ACM SIGGRAPH / Eurographics Symposium on Computer Animation, 2020
[Paper][MP4][YouTube][Slides][Recording]
Local Optimization for Robust Signed Distance Field Collision, Miles Macklin, Kenny Erleben, Matthias Müller, Nuttapong Chentanez, Stefan Jeschke, Zach Corse, ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games, 2020
[Paper][MP4][YouTube][Slides][Recording][Shadertoy]
Cloth and Skin Deformation with a Triangle Mesh-based Convolutional Neural Network, Nuttapong Chentanez, Miles Macklin, Matthias Müller, Stefan Jeschke, Tae‐Yong Kim, Computer Graphics Forum, 2020
[Paper][YouTube]
Detailed Rigid Body Simulation with Extended Position-based Dynamics, Matthias Müller, Miles Macklin, Nuttapong Chentanez, Stefan Jeschke, Tae‐Yong Kim, SCA, 2020
[Paper][YouTube][Slides]
The Matchstick Model for Anisotropic Friction Cones, Kenny Erleben, Miles Macklin, Sheldon Andrews, Paul G Kry, Computer Graphics Forum, 2020
[Paper][YouTube]
2019
Non-Smooth Newton Methods for Deformable Multibody Dynamics, Miles Macklin, Kenny Erleben, Matthias Müller, Nuttapong Chentanez, Stefan Jeschke, Viktor Makoviychuk, ACM Transactions on Graphics, 2019
[Paper][Video]
Small Steps in Physics Simulation, Miles Macklin, Kier Storey, Michelle Lu, Pierre Terdiman, Nuttapong Chentanez, Stefan Jeschke, Matthias Müller, SCA, 2019
[Paper][Video]
VIPER: Volume Invariant Position-based Elastic Rods, Baptiste Angles, Daniel Rebain, Miles Macklin, Brian Wyvill, Loic Barthe, JP Lewis, Javier von der Pahlen, Shahram Izadi, Julien Valentin, Sofien Bouaziz, Andrea Tagliasacchi, SCA, 2019
[Paper][Video]
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience, Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan Ratliff, Dieter Fox, ICRA, 2019
[Paper][Video]
A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes, Renato Gasoto, Miles Macklin, Xuan Liu, Yinan Sun, Kenny Erleben, Cagdas Onal, Jie Fu, ICRA, 2019
[Paper][Video]
2018
Water Surface Wavelets, Stefan Jeschke, Tomáš Skřivan, Matthias Müller-Fischer, Nuttapong Chentanez, Miles Macklin, Chris Wojtan, ACM Transactions on Graphics, 2018
[Paper][Video]
GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning, Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox, CoRL, 2018
[Paper][Project Page]
Physics-based motion capture imitation with deep reinforcement learning, Nuttapong Chentanez, Matthias Müller, Miles Macklin, Viktor Makoviychuk, Stefan Jeschke, Motion in Games, 2018
[Paper]
2017
Position-Based Simulation Methods in Computer Graphics, Miles Macklin, Matthias Müller, Jan Bender, Eurographics Tutorial, Lyon, April 2017
[Slides] [Course Notes]
2016
XPBD: Position-Based Simulation of Compliant Constrained Dynamics, Miles Macklin, Matthias Müller, Nuttapong Chentanez, in Proceedings of ACM Motion in Games, San Francisco, October 2016
[PDF] [Slides] [Video] [Youtube]
A Robust Method to Extract the Rotational Part of Deformations, Matthias Müller, Jan Bender, Nuttapong Chentanez, Miles Macklin, in Proceedings of ACM Motion in Games, San Francisco, October 2016
[PDF] [Youtube]
Simulating Visual Geometry, Matthias Müller, Nuttapong Chentanez, Miles Macklin, in Proceedings of ACM Motion in Games, San Francisco, October 2016
[PDF] [Youtube]
2015
Fast Grid-Free Surface Tracking, Matthias Müller, Nuttapong Chentanez, Miles Macklin, Tae-Yong Kim, ACM Transactions on Graphics (SIGGRAPH 2015), 34(4)
[PDF]
Air Meshes for Robust Collision Handling, Matthias Müller, Nuttapong Chentanez, Tae-Yong Kim, Miles Macklin, ACM Transactions on Graphics (SIGGRAPH 2015), 34(4)
[PDF]
Position-Based Simulation Methods in Computer Graphics, Jan. Bender, Matthias. Müller, Miles. Macklin, EUROGRAPHICS Tutorial Notes, 2015, Zürich, May 4-8
[Course Notes] [Slides]
2014
Strain Based Dynamics, Matthias Müller, Nuttapong Chentanez, Tae-Yong Kim, Miles Macklin, in Proceedings of ACM SIGGRAPH / EUROGRAPHICS Symposium on Computer Animation (SCA), 2014, Copenhagen, July 21-23, 2014
[PDF]
Unified Particle Physics for Real-Time Applications, Miles Macklin, Matthias Müller, Nuttapong Chentanez, Tae-Yong Kim, ACM Transactions on Graphics (SIGGRAPH 2014), 33(4)
[Slides] [PDF] [Video] [Project Page]
A Survey on Position-Based Simulation Methods in Computer Graphics, Jan Bender, Matthias Müller, Miguel A. Otaduy, Matthias Teschner, Miles Macklin, in: Computer Graphics Forum, 2014, pp. 1--25.
[PDF]
2013
Position Based Fluids, Miles Macklin, Matthias Müller, ACM Transactions on Graphics (SIGGRAPH 2013), 32(4)
[PDF] [Slides] [Project Page]