DiffClothAI: Differentiable Cloth Simulation with Intersection-free Frictional Contact and Differentiable Two-Way Coupling with Articulated Rigid Bodies
Xinyuan Yu,Siheng Zhao,Siyuan Luo,Gang Yang,Lin Shao,Xinyuan Yu,Siheng Zhao,Siyuan Luo,Gang Yang,Lin Shao
Differentiable Simulations have recently proven useful for various robotic manipulation tasks, including cloth manipulation. In robotic cloth simulation, it is crucial to maintain intersection-free properties. We present DiffClothAI, a differentiable cloth simulation with intersection-free friction contact and two-way coupling with articulated rigid bodies. DiffClothAI integrates the Project Dynam...