用可微分的材料点法加速柔性物体控制，效率提升显著。
Differentiable Material Point Method for the Control of Deformable Objects
- 构建可微分的材料点法模拟器，支持控制优化
- 控制轨迹优化后动能降低20%，速度比基线快2倍
- 仅需3%计算时间，适合实时控制场景
由于柔性物体具有非线性动力学和高维配置空间，其形变控制极具挑战。本文提出一种面向控制应用的可微分材料点法（MPM）模拟器。利用模拟器的可微性，在超弹性绳索主动阻尼问题中优化控制轨迹。该方法使绳索动能下降至基线方法的20%，且收敛速度提升约2倍，同时计算耗时仅为基线方法的3%。
原文摘要 · Abstract (English)
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.
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