Differentiable Material Point Method for the Control of Deformable Objects
By: Diego Bolliger , Gabriele Fadini , Markus Bambach and more
Controlling the deformation of flexible objects is challenging due to their non-linear dynamics and high-dimensional configuration space. This work presents a differentiable Material Point Method (MPM) simulator targeted at control applications. We exploit the differentiability of the simulator to optimize a control trajectory in an active damping problem for a hyperelastic rope. The simulator effectively minimizes the kinetic energy of the rope around 2$\times$ faster than a baseline MPPI method and to a 20% lower energy level, while using about 3% of the computation time.
Similar Papers
A Convex Formulation of Material Points and Rigid Bodies with GPU-Accelerated Async-Coupling for Interactive Simulation
Robotics
Simulates robots and soft things much faster.
GeoWarp: An automatically differentiable and GPU-accelerated implicit MPM framework for geomechanics based on NVIDIA Warp
Computational Engineering, Finance, and Science
Simulates ground movement faster and more accurately.
Optimal Control and Structurally-Informed Gradient Optimization of a Custom 4-DOF Rigid-Body Manipulator
Robotics
Makes robot arms move precisely and quickly.