“…friction), leading to highfidelity and robust predictions. In recent years, substantial progress has been made to address the algorithmic challenges in DEM simulations: in fast optimization solvers [1,2,3,4], parallel computing frameworks [5,6,7,8,9,10], and multiscale modeling [11,12,13,14]. Unfortunately, for large-scale problems such as those in vehicle-terrain simulation (see Figure 1), each run can still take days or even weeks to complete.…”