Yuanming Hu

Computer scientist and first author of ChainQueen (2019 ICRA), a real-time differentiable physical simulator for soft robotics built on the Material Point Method, and of DiffTaichi, a related differentiable-simulation system. Matters to this vault as the recurring first author anchoring its Sandia-to-robotics Material Point Method lineage thread — his name recurs across at least three vault captures (ChainQueen, DiffTaichi, and the 2026-10-07 ChainQueen × Ansari bipartite hop) without previously having a page of his own, despite the thread's other named figures (Sulsky, Schreyer) already having hubs.

• 2026-10-13: he is also the author of record of Taichi, the library ChainQueen cites formally as its own prior-authored dependency (reference [30]) — making him the author of the one "own-software" category in ChainQueen's three-way citation split, distinct from its claimed mathematical lineage (Sulsky/Schreyer) and its uncredited third-party infrastructure (TensorFlow) (claim-chainqueen-citation-practice-splits-by-claimed-lineage-vs-third-party-infrastructure).
• 2026-10-16: DiffTaichi's own arXiv timestamp (14 Feb 2020) for its Griewank citation predates ChatGPT's public launch (30 Nov 2022) by nearly three years — a date that forecloses, for this specific paper, an Ansari-style training-contamination reading of why his paper names Griewank at all. (claim-difftaichi-griewank-citation-predates-chatgpt-launch-forecloses-contamination-explanation)

References

• claim-chainqueen-reference-list-directly-cites-sulsky-zhou-schreyer-1995-mpm-origin
• claim-chainqueen-differentiates-mpm-via-linnainmaas-reverse-mode-technique
• claim-chainqueen-2019-full-reference-list-omits-ad-discovery-citations
• observation-chainqueen-ansari-contamination-inheritance-cosine-085-pairing-is-hedged-bridge
• claim-chainqueen-citation-practice-splits-by-claimed-lineage-vs-third-party-infrastructure
• Captures: 10-inbox/raw/2026-10-07-bipartite-ml-ai-computing-ansari-2026-traces-one-case-of.md, 10-inbox/raw/2026-10-11-bipartite-computing-mathematics-chainqueens-reference-list-traces-mpms-origin-directly.md