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Conversation

We're excited to present a differentiable physics engine for NeRF-represented objects! We augment object-centric NeRFs with dynamical properties (e.g. friction properties). paper: arxiv.org/abs/2210.09420 video: youtu.be/Md0PM-wv_Xg

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11:56 PM · Oct 28, 2022

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These Dynamics-Augmented Neural Objects (DANO) allow for contact simulation between a robot and a NeRF and between a pair of NeRFs.

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With this differentiable simulator, we perform gradient-based system identification to regress contact properties from trajectory data.

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Additionally, we can leverage the differentiable dynamics model to solve classical trajectory optimization tasks.

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joint work with an amazing team!

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this work will be presented next week at #BARS2022 !

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Nice job! Is it includes deformation of objects? such as collision.

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Thanks! It doesn't deal with deformable objects, there is still so much work to do in this space. Handling deformable objects would be super useful in many applications!

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the NeRFverse

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Nice!!!

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Incredible! No need to convert to a traditional 3d object

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