DiffGIPC: Differentiable Mixed-Coordinate Contact Dynamics on GPU
We present DiffGIPC, a GPU-accelerated differentiable IPC framework for optimizing interacting deformable and nearly rigid bodies.
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Key points
- Contact-rich inverse problems require efficient gradients and reliable enforcement of non-penetration.
- Existing differentiable methods provide fast simulation and rigid-deformable coupling, but contact treatments based on penalties or velocity-level constraints can permit penetration or positional drift.
- Incremental Potential Contact (IPC) maintains non-penetration through geometric barriers and {continuous collision detection (CCD)}.
- Experiments demonstrate peak speedups over DiffIPC of approximately 150.0x with full-space FEM and 4133.3x with affine bodies for combined forward simulation and backward differentiation.
Sources (1)
- [1]DiffGIPC: Differentiable Mixed-Coordinate Contact Dynamics on GPUarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 13, 07:29 PM
We present DiffGIPC, a GPU-accelerated differentiable IPC framework for optimizing interacting deformable and nearly rigid bodies.
Contact-rich inverse problems require efficient gradients and reliable enforcement of non-penetration.
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