Code and data for paper Contact Points Discovery for Soft-Body Manipulations with Differentiable Physics at ICLR 2022 (Spotlight).
@InProceedings{li2022contact,
author = {Li, Sizhe and Huang, Zhiao and Du, Tao and Su, Hao and Tenenbaum, Joshua and Gan, Chuang},
title = {{C}ontact {P}oints {D}iscovery for {S}oft-{B}ody {M}anipulations with {D}ifferentiable {P}hysics},
booktitle = {International Conference on Learning Representations (ICLR)},
year = {2022}}python3 -m pip install -e .
conda install pyg -c pygDownload target templates here,
and put the folder diff_phys that contains goal shapes onto your machine.
Run the following to train an agent that writes "ICLR" on a plasticine board:
python3 scripts/launch_training.py \
--root_dir somewhere_on_your_machine/diff_phys \
--algo cpdeform \
--env_name multistage_writerThe experiment results will be stored in the diff_phys folder.
Our physics simulation is based on PlasticineLab.