Publications using Newton#

This is the complete 35-work snapshot checked on 2026-11-02 of Newton’s official PUBLICATIONS.md: 34 research entries and one comparison-only entry. It provides a paper index for simulation, contact, manipulation, learning and system identification.

Source: The Newton Developers, fixed revision a35c691, under CC BY 4.0. DexLab adds this introduction and bilingual navigation; the entries, author order, dates, links and upstream grouping are preserved. Follow the upstream list for subsequent additions and corrections; this page is a dated snapshot.

The categories reflect Newton’s maintainers’ classification. Inclusion here does not mean DexLab has read every full paper, qualified its Newton configuration or reproduced its results. External results do not count toward DexLab’s experiment coverage or passes.

Start with the seven topics and suggested reading routes for a plain-language explanation of what each paper studies.

Research using or developing Newton#

2026#

  • Gym-Anything for Robotics: Scaling physical simulations with digital agents. P. Aggarwal, S. Welleck. October 2026. arXiv:2610.40565

  • FlashNeRD: Performance-First Contact-Rich Neural Robot Dynamics. M. Ataei, M. A. Nabian, J. Xu, M. Macklin, Y. Narang, E. Heiden, O. Zhang, Y. Guo, R. D’Sa, O. Hennigh, G. State, S. Choudhry. October 2026. arXiv:2610.09130

  • GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks. K. Chen, S. Xie, L. Fu, J. Yu, W. Pacini, S. Bajamahal, H. Kim, J. Drake, D. Kim, H. Xue, J. Francis, C. Juette, P. Schaldenbrand, M. Y. Seker, R. Wickramarachchi, U. Yoo, G. Wang, A. Murali, B. Sundaralingam, S. S. Sastry, Y. Zhu, L. Fan, S. Huang, K. Goldberg. July 2026. arXiv:2607.05369

  • RoboSimStudio: An Interactive Toolkit for Rapid Real2Sim of Robot Manipulation Tasks. K. Chen, S. Xie, U. Yoo, X. Zhu, C. Magner, A. Zhu, D. Kim, E. Heiden, E. Coumans, M. Macklin, S. Huang, K. Goldberg. October 2026. arXiv:2610.18835

  • Same Action, Different Outcome: Variability in Dynamic Cloth Manipulation. M. Dadgostar, G. Alenyà, J. Borràs. October 2026. arXiv:2610.10801

  • Mixed Material Point Methods for Stiff Elastoplasticity. G. Daviet. ACM Transactions on Graphics 45(4), July 2026. DOI:10.1145/3811345

  • Backpropagating Through Simulation: Analytic Policy Gradients for Sample and Learning Efficient Differentiable Continuous Control. Y. Deng. June 2026. arXiv:2606.21525

  • RigPI: Dynamic Parameter Identification of Rigid Body via VLM-Seeded Differentiable Simulation. X. He, R. Zhang, W. Jiang, W. Xu. June 2026. arXiv:2606.25212

  • RoboMMT: Learning Stable Tracking of Modulated Expressive and Interactive Robot Motion. T. Hielscher, K. O. Arras. October 2026. arXiv:2610.26414

  • Probabilistic Physics Digital Twin for Human-Robot Interaction. Y. Hu, H. Chandirasekar, A. Kushwaha, J. King, Z.-T. Chen. October 2026. arXiv:2610.19336

  • GM-Loco: Terrain-Adaptive Humanoid Locomotion on Granular Media. J. Kamohara, F. Wu, A. N. Zong, D. I. Goldman, Y. Nakka, S. Hutchinson, Y. Zhao. September 2026. arXiv:2609.10286

  • LUMO: Designing Luminous Contact Morphology for Repeatable Whole-Finger Contact Observation. D. H. Kang, Y. Ko, L. Sentis. September 2026. arXiv:2609.18165

  • Ostrich: Taking Large Strides Through Stiff Contact in Differentiable Dynamics. A. Kučera, K. Zimmermann. September 2026. arXiv:2609.08800

  • PileBelief: Persistent Physical State for Interaction-Driven World Modeling. H. Lin, S. Zhang, H. Liu, Y. Liu, J. Zhao, X. Qu. September 2026. arXiv:2609.22858

  • High-Fidelity 4D Cloth Capture Pipeline with a Two-Level Pattern. Z. Liu, A. Chen, S. Chen, Y. Yang, C. Yuksel, J. H. Lin. ACM Transactions on Graphics 45(4), July 2026. DOI:10.1145/3811305, author version

  • ForwardDLO: Model-Based Bimanual Shape Matching of Unconstrained Deformable Linear Objects. T. Missal, B. Guler, L. Domingues, S. Manschitz, J. Peters, P. D. P. Costa. September 2026. arXiv:2609.18455

  • OrchardBench: A Physically-Grounded, GPU-Parallel Apple-Orchard Simulation Benchmark for Agricultural Robotics. H. Munn. July 2026. arXiv:2607.06337

  • DetAug: Obstacle-Blind Trajectory Augmentation for Zero-shot Obstacle Avoidance. R. O’Mahoney, M. Zoellner, I. Havoutis. September 2026. arXiv:2609.18395

  • PersistGS: Differentiable Physics for Object Permanence in 4D Gaussian Splatting. A. Ramlal, J. S. Zelek. CVPR Workshops, 2026. arXiv:2606.03479

  • Informationally Decoupled Trajectory Design for Sim-to-Real System Identification. S. Shin, A. Anilkumar, R. Gao, J. P. Hanna. October 2026. arXiv:2610.10905

  • DefFlow: Goal-Conditioned Deformable Object Manipulation using 3D Point Flows. G. Singh, S. Orozco, R. Duong, M. T. Akbulut, G. Konidaris, S. Sridhar. October 2026. arXiv:2610.22827

  • A Splitting Architecture for Exact Reduced Coulomb Friction. H. Song, Y. Fan, U. M. Ascher, D. K. Pai. Computer Graphics Forum 45(8), 2026. DOI:10.1111/cgf.70576, arXiv:2607.19599

  • Kamino: GPU-based Massively Parallel Simulation of Multi-Body Systems with Challenging Topologies. V. Tsounis, G. Maloisel, C. Schumacher, R. Grandia, A. Serifi, D. Müller, C. Amevor, T. Widmer, M. Bächer. March 2026. arXiv:2603.16536

  • GAUGE: A Measurement-Grounded Benchmark for Physical Fidelity in Simulation Engines and Video World Models. S. Wang, Y. Feng, X. Jiang, S. Tian, N. Yan, X. Shen, C. Lyu, H. Wang, Y. Zhou, H. Wang, J. Pang, Y. Xiang, X. Gao, C. Shen, W. Zhang. August 2026. arXiv:2608.05948

  • RoboFin3D: A Sim-to-Real Platform for Robotic Surface Finishing. H. Wen, S. Li, V. Sanjay, P. Huang, J. Li, C. Liu. September 2026. arXiv:2609.37560

  • Learning Sim-Grounded Policies for Bimanual Rope Manipulation from Human Teleoperation Data. G. Wigginghaus, T. Missal, B. Guler, S. Manschitz, J. Peters. May 2026. arXiv:2605.16043

  • Learning Expressive and Compositional Motion Representation via Spectral Skills. F. Wu, C. Gao, C. Yang, Y. Zhao, B. Dai, A. Wu. September 2026. arXiv:2609.37677

  • RopeFormer: Cross-Trial Adaptation from Interaction History for Dynamic Rope Manipulation. M. Wu, K. Yao, S. Luan, M. Tomizuka, Y. Chen. September 2026. arXiv:2609.23432

  • ContactBench 1.0: A Benchmark for Everyday Contact-Rich Robotic Manipulation. J. Xiang, Y. Wang, J. Bohg, W. Yuan. October 2026. arXiv:2610.24512

  • PointCast: One World Model for Rigid, Articulated, and Deformable Object Manipulation. H. Ye, R. Worobel, Z. Xie, M. Li, H. Yu, Y. Hong, C. Choi. September 2026. arXiv:2609.28393

  • AlphaNIST: Emergent Assembly Skills from Binary Task Rewards. O. Zhang, I. Akinola, R. Scalise, M. Guaman Castro, P. Yin, T. Widmer, M. Macklin, C. Amevor, D. Turpin, D. Van Gelder, J. Carius, A. Handa, G. State, Y. Guo, Y. Narang. October 2026. arXiv:2610.13354

  • A Balanced Data Diet: Addressing the Exploration Bottleneck in Mega-Scale RL for Robot Control. O. Zhang, M. Guaman Castro, P. Yin, I. Dagnino, A. Gupta, R. Scalise, B. Boots. October 2026. arXiv:2610.12465

  • SIM1: Physics-Aligned Simulator as Zero-Shot Data Scaler in Deformable Worlds. Y. Zhou, H. Liu, X. Jiang, X. Shen, Y. Zhou, H. Wang, B. Fang, Y. Tian, M. Yu, Q. Yu, L. Ma, H. Li, H. Wang, J. Zeng, J. Pang. April 2026. arXiv:2604.08544

  • SceneFactory-3D: Lifting 2D Traffic Scenes into 3D Physical Counterfactuals for Scalable Physically Grounded Safety Evaluation. Y. Zhu, L. Tian, T. Zhao, Y. Chen, F. Zuo, T. Li, Z. Bian. October 2026. arXiv:2610.02874

Newton used solely as a comparison baseline#

2026#

  • PhysLDM: Latent Diffusion for High-Fidelity Deformable Simulation. Y. Zhang, X. Xu, X. Pan. October 2026. arXiv:2610.07609