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

May 6, 2022, 1:10 a.m. | Sizhe Li, Zhiao Huang, Tao Du, Hao Su, Joshua B. Tenenbaum, Chuang Gan

cs.CV updates on arXiv.org arxiv.org

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 …

arxiv discovery physics

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