Jade: 非貫通摩擦接触を扱う関節剛体向け微分可能物理エンジン
Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact
接触をLCPとしてモデル化し、連続衝突検出とバックトラッキングで非貫通を保証しつつ、複数摩擦接触でも安定な解が得られる微分可能物理エンジンを提案した論文。
著者: Gang Yang, Siyuan Luo, Lin Shao
分類: cs.RO, cs.AI, cs.CV, cs.GR, cs.SY, eess.SY
原文アブストラクト
We present Jade, a differentiable physics engine for articulated rigid bodies. Jade models contacts as the Linear Complementarity Problem (LCP). Compared to existing differentiable simulations, Jade offers features including intersection-free collision simulation and stable LCP solutions for multiple frictional contacts. We use continuous collision detection to detect the time of impact and adopt the backtracking strategy to prevent intersection between bodies with complex geometry shapes. We derive the gradient calculation to ensure the whole simulation process is differentiable under the backtracking mechanism. We modify the popular Dantzig algorithm to get valid solutions under multiple frictional contacts. We conduct extensive experiments to demonstrate the effectiveness of our differentiable physics simulation over a variety of contact-rich tasks.
