Differentiable Soft Body Simulator
收藏arXiv2025-09-30 收录
下载链接：
https://sites.google.com/view/softmac
下载链接
链接失效反馈官方服务：
资源简介：
该数据集采用可微分的物质点方法（MPM）软体模拟器，用于模拟软体、关节刚体以及衣物之间的相互作用。数据集包含了在不同机器人操作场景中评估接触模型和梯度计算的指标，规模可扩展至高达30,000个自由度（DoFs）。其任务涵盖了机器人操作的各种场景，包括倒液体、挤压橡皮泥以及制作玉米卷等。
This dataset employs a differentiable Material Point Method (MPM) soft-body simulator to model interactions between soft bodies, articulated rigid bodies, and clothing. It includes metrics for evaluating contact models and gradient computations across diverse robotic manipulation scenarios, and is scalable up to 30,000 degrees of freedom (DoFs). Its tasks cover a wide array of robotic manipulation scenarios, including pouring liquids, squeezing plasticine, and making tacos, among others.
提供机构：
Authors of the paper
