Differentiable Material Point Method for the Control of Deformable Objects
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
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| _version_ | 1866911319470374912 |
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| author | Bolliger, Diego Fadini, Gabriele Bambach, Markus Rupenyan, Alisa |
| author_facet | Bolliger, Diego Fadini, Gabriele Bambach, Markus Rupenyan, Alisa |
| contents | Controlling the deformation of flexible objects is challenging due to their non-linear dynamics and high-dimensional configuration space. This work presents a differentiable Material Point Method (MPM) simulator targeted at control applications. We exploit the differentiability of the simulator to optimize a control trajectory in an active damping problem for a hyperelastic rope. The simulator effectively minimizes the kinetic energy of the rope around 2$\times$ faster than a baseline MPPI method and to a 20% lower energy level, while using about 3% of the computation time. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_13214 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Differentiable Material Point Method for the Control of Deformable Objects Bolliger, Diego Fadini, Gabriele Bambach, Markus Rupenyan, Alisa Robotics Systems and Control H.1.1; J.2; I.2.8; I.6.0; I.6.5 Controlling the deformation of flexible objects is challenging due to their non-linear dynamics and high-dimensional configuration space. This work presents a differentiable Material Point Method (MPM) simulator targeted at control applications. We exploit the differentiability of the simulator to optimize a control trajectory in an active damping problem for a hyperelastic rope. The simulator effectively minimizes the kinetic energy of the rope around 2$\times$ faster than a baseline MPPI method and to a 20% lower energy level, while using about 3% of the computation time. |
| title | Differentiable Material Point Method for the Control of Deformable Objects |
| topic | Robotics Systems and Control H.1.1; J.2; I.2.8; I.6.0; I.6.5 |
| url | https://arxiv.org/abs/2512.13214 |