DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact
Abstract
Cloth simulation has wide applications in computer animation, garment design, and robot-assisted dressing. This work presents a differentiable cloth simulator whose additional gradient information facilitates cloth-related applications. Our differentiable simulator extends a state-of-the-art cloth simulator based on Projective Dynamics (PD) and with dry frictional contact [Ly et al. 2020 ]. We draw inspiration from previous work [Du et al. 2021 ] to propose a fast and novel method for deriving gradients in PD-based cloth simulation with dry frictional contact. Furthermore, we conduct a comprehensive analysis and evaluation of the usefulness of gradients in contact-rich cloth simulation. Finally, we demonstrate the efficacy of our simulator in a number of downstream applications, including system identification, trajectory optimization for assisted dressing, closed-loop control, inverse design, and real-to-sim transfer. We observe a substantial speedup obtained from using our gradient information in solving most of these applications.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Oct 03, 2022
- Source ID
- 10.1145/3527660
Entities
People
- Jie Xu
- Kui Wu
- Tao Du
- Wojciech Matusik
- Yifei Li
Organizations
- Defense Advanced Research Projects Agency
- Massachusetts Institute of Technology
- Tencent