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.
A general two-stage initialization for sag-free deformable simulations.ACM Transactions on Graphics (Proceed- ings of SIGGRAPH 2022), 41(4):64:1–64:13, 07 2022
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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.