Real-to-simulation matching of deformable soft tissue and other objects with position-based dynamics for robot control

US Patent App. 18/281,472, 2024

Fei Liu, Michael C Yip, Florian Richter

Publisher Link: http://patents.google.com/patent/US20240157559A1/en

Abstract: A method is provided for generating and updating a simulation of one or more objects from sensory data. The method includes:(i) receiving sensory data;(ii) detecting one or more objects in the sensory data;(iii) initializing both a simulator geometry of the one or more objects in a simulator and simulator parameters used in the simulator;(iv) predicting the simulator geometry using the simulator parameters;(v) computing predicted sensory data from the predicted simulator geometry;(vi) computing a loss between the predicted sensory data and the received sensory data;(vii) updating the simulator geometry and the simulator parameters by minimizing the computed loss;(viii) repeating (i)-(viii) if new sensory data is received; and (ix) providing a simulation of the one or more objects using the updated simulator geometry and the updated simulator parameters.

Liu et al. (2024) Real-to-simulation matching of deformable soft tissue and other objects with position-based dynamics for robot control, US Patent App. 18/281,472.