Priya Sundaresan, Rika Antonova, Jeannette Bohg
- This repo provides a framework for differentiable real-to-sim parameter estimation of deformable objects from real robot manipulation.
- It is organized into
real
: scripts for interfacing with a real Kinova robot + RealSense cameras for executing trajectories and recording point cloudssim
: scripts for performing real-to-sim optimizations with differentiable and nondifferentiable methods (TODO).
- Please see the details of our DiffCloud implementation here
- Note, this is heavily built on DiffSim