Reports

Research notes, experiment summaries, and supporting media.

• Neural connections inside Warp kernels NeuralSim-style patchbay prototype for Warp: named wires in kernels re-wired from Python with @wp.func nonlinearities and tiny inlined MLPs — modular synth demo (audio included), a trained hybrid simulation, and a puck-on-table demo that recovers a spatial friction heatmap through a position-driven neural connection.
• HRDexDB dexterous-grasp replay in Newton 120 real xArm6 + Allegro V5 / Inspire F1 picking episodes replayed fully dynamically with SolverMuJoCo: PD joint targets only, passive objects colliding as watertight CoACD decompositions, ground-truth overlay videos, per-hand CMA-ES calibration with winner's-curse revalidation, and median object-tracking error of 4–8 cm across 35 objects.
• Flying Knots in Newton Mid-air overhand knot tied by an xArm7 replaying the paper's digitized throw with SolverVBD cable joints: trajectory digitization, IK-driven arm, knot-topology metrics, tuned 17/20 kinematic success, and a fully dynamic MuJoCo-coupled variant that ties the knot 12/12.
• DiscoGrad-style program smoothing in Warp Gaussian smoothing helpers for branch-heavy Warp objectives, with triangle intersection gradients, 2D collision optimization, variance plots, and CPU benchmark tables.
• SHAC with MuJoCo Warp Newton SolverMuJoCo differentiability report with PPO controls, promoted SHAC checkpoints, and the remaining Ant contact-gradient blocker.
• ViewerGL Transparency Rendering Cross-system screenshot and frame-time comparison of sorted back-to-front blending and weighted order-independent transparency for transparent meshes and cloth.
• Newton Fluid Support SPH solver prototype and ViewerGL screen-space water rendering with smoothed translucent fluid surfaces.
• Newton assets without ArticulationRootAPI Design options and evidence for jointed USD mechanisms that have no articulation root, including JointView and importer-inferred articulation strategies.
• Featherstone Origin-Offset Numerical stability investigation and benchmarks for floating-base Featherstone articulations driven far from the world origin.
• Newton Determinism Scenario results, diagnostics, and accompanying videos.
• Deterministic mesh inertia Latest Warp PR #1355 rerun for Newton mesh inertia: V2 original atomic lowering is bit-exact and much faster after the multi-component reduction update; V3 tile_sum remains fastest.
• Newton Mimic Joints Design alternatives, parameterization tradeoffs, benchmark results, and schema evidence.
• Newton Cutting Simulation Literature overview and concrete Newton/Warp implementation paths for real-time soft-object cutting.
• Newton ModelBuilder Performance ModelBuilder.finalize() and add_builder() timing and memory benchmarks for replicated USD RL workloads and targeted optimization variants.
• Real2Sim Parameter Estimation Literature groups, Newton toolbox design, and a Franka/Warp prototype for estimating robot and object physical parameters from real data.