· Contributors · Organizations · Search
DiffCloth: Differentiable Cloth Simulation With Dry Frictional Contact
Research & Education
Full Conference Supporter
Virtual Conference Supporter
Exhibitor Additional Full Conference
Exhibitor Full Conference
DescriptionWe present a differentiable cloth simulator that uses a fast and novel method for deriving gradients in PD-based cloth simulation with dry frictional contact. We demonstrate the efficacy of our simulator in system identification, trajectory optimization for assisted dressing, closed-loop control, inverse design, and real-to-sim transfer.