What is it about?

Cloth simulation has wide applications in computer animation, garment design, and robot-assisted dressing. This work presents a fast differentiable cloth simulator whose gradient information unlocks gradient-based optimization methods for solving inverse cloth-related problems. We demonstrate the efficacy of our simulator in system identification, trajectory optimization for assisted dressing, closed-loop control, inverse design, and real-to-sim transfer.

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Why is it important?

Our work contributes the following: (1) We present a novel differentiable cloth simulator with dry frictional contact and an iterative solver for speeding up its gradient computation. (2) We evaluate the source of non-differentiability in the dry frictional contact model and discuss the usefulness of gradients in differentiable, contact-rich cloth simulation. (3) We show the efficacy of our simulator in various applications, including system identification, trajectory optimization for assisted dressing, closed-loop control, inverse design, and real-to-sim transfer.

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This page is a summary of: DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact, ACM Transactions on Graphics, February 2023, ACM (Association for Computing Machinery), DOI: 10.1145/3527660.
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