Contact Points Discovery for Soft-Body Manipulations with Differentiable Physics. (arXiv:2205.02835v1 [cs.RO])

Web: http://arxiv.org/abs/2205.02835

Differentiable physics has recently been shown as a powerful tool for solving
soft-body manipulation tasks. However, the differentiable physics solver often
gets stuck when the initial contact points of the end effectors are sub-optimal
or when performing multi-stage tasks that require contact point switching,
which often leads to local minima. To address this challenge, we propose a
contact point discovery approach (CPDeform) that guides the stand-alone
differentiable physics solver to deform various soft-body plasticines. The key
idea of our approach …

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