DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact
Name
Li-liyifei-SM-EECS-2022-thesis.pdf
Description
Thesis PDF
Size
24.48 MB
Format
Adobe PDF
Checksum (MD5)
e7de20366839460d357f348865f4f4e1
Author(s)
Li, Yifei
Advisor(s)
Matusik, Wojciech
Date Issued
May 2022
Publisher
Massachusetts Institute of Technology
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. We draw inspiration from previous work 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.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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