Yifei Li

Graduate Student




DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact

This work presents a differentiable cloth simulator that extends a state-of-the-art cloth simulator based on Projective Dynamics (PD) and with dry frictional contact. A novel back-propagation technique is proposed to accelerate gradient computation. We demonstrate the effectiveness of the simulator through inverse tasks including system identification, trajectory optimization for assisted dressing, closed-loop control, inverse design.