论文标题
单级可区分触点模拟
Single-Level Differentiable Contact Simulation
论文作者
论文摘要
我们提供了一个可区分的公式，用于代表凸原语组成的物体和机器人的刚体接触动力学。现有基于优化的方法模拟凸原语之间的接触依赖于将碰撞检测和触点模拟分开的双重配方。这些方法在现实的接触模拟方案中是不可靠的，因为隔离碰撞检测问题会引入接触位置非唯一性。我们的方法将接触模拟和碰撞检测结合到统一的单级优化问题中。这以物理信息的方式消除了碰撞检测问题。与以前的可区分模拟方法相比，我们的公式具有改善的模拟鲁棒性和计算复杂性的降低不仅仅是数量级。我们说明了需要优化直接接触的机器人操纵任务上的接触和碰撞可不同。我们以称为Silico.jl的Julia语言提供了数值有效的公式实现。
We present a differentiable formulation of rigid-body contact dynamics for objects and robots represented as compositions of convex primitives. Existing optimization-based approaches simulating contact between convex primitives rely on a bilevel formulation that separates collision detection and contact simulation. These approaches are unreliable in realistic contact simulation scenarios because isolating the collision detection problem introduces contact location non-uniqueness. Our approach combines contact simulation and collision detection into a unified single-level optimization problem. This disambiguates the collision detection problem in a physics-informed manner. Compared to previous differentiable simulation approaches, our formulation features improved simulation robustness and a reduction in computational complexity by more than an order of magnitude. We illustrate the contact and collision differentiability on a robotic manipulation task requiring optimization-through-contact. We provide a numerically efficient implementation of our formulation in the Julia language called Silico.jl.
