/diffsim-sysid

Differentiable Simulation for System Identification in Dynamic Cluttered Scenes

Primary LanguagePythonMIT LicenseMIT

Object Modelling

1. Perceptual Module

We use PyTorch for the perceptual module.

2. Physics Engine

We use Nvidia Warp for differentiable physics.

We use PyTorch3D for Chamfer distance calculations.

3. Graphics Engine

We use Mitsuba for differentiable rendering.