DiffPD: Differentiable Projective Dynamics with Contact

Tao Du
Tao Du
Kui Wu
Kui Wu
Pingchuan Ma
Pingchuan Ma
Sebastien Wah
Sebastien Wah
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Abstract:

We present a novel, fast differentiable simulator for soft-body learning and control applications. Existing differentiable soft-body simulators can be classified into two categories based on their time integration methods. Simulators using explicit time-stepping scheme require tiny time steps to avoid numerical instabilities in gradient...More

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