DiffCloud: Deformable Real-to-sim from Point Clouds

Priya Sundaresan, Rika Antonova, Jeannette Bohg

[Project] [arXiv]

Description

• This repo provides a framework for differentiable real-to-sim parameter estimation of deformable objects from real robot manipulation.
• It is organized into
  • real: scripts for interfacing with a real Kinova robot + RealSense cameras for executing trajectories and recording point clouds
  • sim: scripts for performing real-to-sim optimizations with differentiable and nondifferentiable methods (TODO).
• Please see the details of our DiffCloud implementation here
• Note, this is heavily built on DiffSim