用降维方法加速机器人抓取模拟，不交叠且稳定。
Embedded IPC: Fast and Intersection-free Simulation in Reduced Subspace for Robot Manipulation
- 在低分辨率子空间模拟弹性，高分辨率表面保碰撞约束
- 无论材料刚度或时间步长，都能避免物体穿插
- 适合需物理准确性的机器人训练数据生成
基于物理的仿真对开发和评估机器人操作策略至关重要，尤其是在涉及可变形物体和复杂接触交互的情况下。然而，现有仿真器往往难以在计算效率与数值精度之间取得平衡，尤其在建模具有摩擦接触约束的可变形材料时。本文提出一种针对增量势能接触（IPC）方法的高效子空间表示，利用模型降维减少自由度数。该方法通过在低分辨率子空间中表示弹性，同时在嵌入的高分辨率表面上保持碰撞约束，实现了仿真复杂度与输入模型分辨率的解耦。其屏障公式确保了无论材料刚度、时间步长或接触强度如何，轨迹和构型均无交叠。我们通过软气泡夹持器抓取的定量实验以及将盘子放置于碟架的定性演示验证了该模拟器的性能。结果表明，该模拟器具备高效性、物理准确性、计算稳定性及对摩擦接触的良好处理能力，非常适合生成示范数据并评估下游机器人训练应用。
原文摘要 · Abstract (English)
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance computational efficiency with numerical accuracy, especially when modeling deformable materials with frictional contact constraints. We introduce an efficient subspace representation for the Incremental Potential Contact (IPC) method, leveraging model reduction to decrease the number of degrees of freedom. Our approach decouples simulation complexity from the resolution of the input model by representing elasticity in a low-resolution subspace while maintaining collision constraints on an embedded high-resolution surface. Our barrier formulation ensures intersection-free trajectories and configurations regardless of material stiffness, time step size, or contact severity. We validate our simulator through quantitative experiments with a soft bubble gripper grasping and qualitative demonstrations of placing a plate on a dish rack. The results demonstrate our simulator's efficiency, physical accuracy, computational stability, and robust handling of frictional contact, making it well-suited for generating demonstration data and evaluating downstream robot training applications.
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