Scissorbot: Learning generalizable scissor skill for paper cutting via simulation, imitation, and sim2real
This paper tackles the challenging robotic task of generalizable paper cutting using scissors.
In this task, scissors attached to a robot arm are driven to accurately cut curves drawn on the …
In this task, scissors attached to a robot arm are driven to accurately cut curves drawn on the …
Softmac: Differentiable soft body simulation with forecast-based contact model and two-way coupling with articulated rigid bodies and clothes
Differentiable physics simulation provides an avenue to tackle previously intractable
challenges through gradient-based optimization, thereby greatly improving the efficiency of …
challenges through gradient-based optimization, thereby greatly improving the efficiency of …
UBSoft: A Simulation Platform for Robotic Skill Learning in Unbounded Soft Environments
It is desired to equip robots with the capability of interacting with various soft materials as
they are ubiquitous in the real world. While physics simulations are one of the predominant …
they are ubiquitous in the real world. While physics simulations are one of the predominant …
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation
Recent advances in GPU-based parallel simulation have enabled practitioners to collect
large amounts of data and train complex control policies using deep reinforcement learning …
large amounts of data and train complex control policies using deep reinforcement learning …
Stabilizing Reinforcement Learning in Differentiable Simulation of Deformables
Recent advances in GPU-based parallel simulation have enabled practitioners to collect
large amounts of data and train complex control policies using deep reinforcement learning …
large amounts of data and train complex control policies using deep reinforcement learning …