• Corpus ID: 233169183

PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physics

@article{Huang2021PlasticineLabAS,
  title={PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physics},
  author={Zhiao Huang and Yuanming Hu and Tao Du and Siyuan Zhou and Hao Su and Joshua B. Tenenbaum and Chuang Gan},
  journal={ArXiv},
  year={2021},
  volume={abs/2104.03311}
}
Simulated virtual environments serve as one of the main driving forces behind developing and evaluating skill learning algorithms. However, existing environments typically only simulate rigid body physics. Additionally, the simulation process usually does not provide gradients that might be useful for planning and control optimizations. We introduce a new differentiable physics benchmark called PasticineLab, which includes a diverse collection of soft body manipulation tasks. In each task, the… 

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