SPARCS uses a differentiable contact model and sparse Hessian solver to jointly optimize shapes and poses of up to five interacting objects, producing physically valid simulation-ready reconstructions.
Note that we redefine ¯CasC equi for more conveniently dis- tinguishing different types of constraints
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Simulation-Ready Cluttered Scene Estimation via Physics-aware Joint Shape and Pose Optimization
SPARCS uses a differentiable contact model and sparse Hessian solver to jointly optimize shapes and poses of up to five interacting objects, producing physically valid simulation-ready reconstructions.