Presentation
DiffCloth: Differentiable Cloth Simulation With Dry Frictional Contact
SessionTechnical Papers
Presenter
Event Type
Technical Paper
Research & Education
Virtual
Full Conference Supporter
Full Conference
Virtual Conference Supporter
Virtual Conference
Exhibitor Additional Full Conference
Exhibitor Full Conference
Time
Location
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.
