1NAzMofMnWl@OpenReview

Total: 1

#1 DaxBench: Benchmarking Deformable Object Manipulation with Differentiable Physics [PDF2] [Copy] [Kimi5] [REL]

Authors: Siwei Chen, Yiqing Xu, Cunjun Yu, Linfeng Li, Xiao Ma, Zhongwen Xu, David Hsu

Deformable object manipulation (DOM) is a long-standing challenge in robotics and has attracted significant interest recently. This paper presents DaXBench, a differentiable simulation framework for DOM. While existing work often focuses on a specific type of deformable objects, DaXBench supports fluid, rope, cloth ...; it provides a general-purpose benchmark to evaluate widely different DOM methods, including planning, imitation learning, and reinforcement learning. DaXBench combines recent advances in deformable object simulation with JAX, a high-performance computational framework. All DOM tasks in DaXBench are wrapped with the OpenAI Gym API for easy integration with DOM algorithms. We hope that DaXBench provides to the research community a comprehensive, standardized benchmark and a valuable tool to support the development and evaluation of new DOM methods. The code and video are available online.

Subject: ICLR.2023 - Notable-top-5%