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Deformable Neural Radiance Fields creates free-viewpoint portraits (nerfies) from casually captured videos.
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updated
2026-01-18 18:40:17
raw text
DiffTactile DiffTactile: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation Zilin Si* , Gu Zhang* , Qingwei Ben* , Branden Romero , Zhou Xian , Chao Liu , Chuang Gan * Authors with equal contribution. Accepted by ICLR 2024 Paper arXiv Video Code Abstract We introduce DiffTactile, a physics-based and fully differentiable tactile simulation system designed to enhance robotic manipulation with dense and physically-accurate tactile feedback. In contrast to prior tactile simulators which primarily focus on manipulating rigid bodies and often rely on simplified approximations to model stress and deformations of materials in contact, DiffTactile emphasizes physics-based contact modeling with high fidelity, supporting simulations of diverse contact modes and interactions with objects possessing a wide range of material properties. Our system incorporates several key comp...
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