[BenoitP]

I believe we could get there eventually. For example for collision there is work to make it differentiable (or use a local surrogate at the collision point): https://arxiv.org/abs/2207.00669

The robotics will need to connect vision with motors with haptics with 3D modelling. And to propagate gradient seamlessly. For calibrating torque with the the elastic deformation of the material for example. After all matter is not discreet at small scales (staying above the atomic scale)

All this will require all modules to be compatible with differentiability. It'll be expensive at first, but I'm sure some optimizations can get us close to the discreet case.

Also even for meshes there is a lot to gain with trying to go the continuous way:

https://www.cs.cmu.edu/~kmcrane/Projects/DDG/