Real-to-Sim Parameter Learning for Deformable Packages Using High-Fidelity Simulators for Robotic Manipulation
Omey M. Manyar*, Hantao Ye*, Siddharth Mayya, Fan Wang and Satyandra K. Gupta
*Equal Contribution
Real-to-Sim Parameter Learning for Deformable Packages Using High-Fidelity Simulators for Robotic Manipulation
Omey M. Manyar*, Hantao Ye*, Siddharth Mayya, Fan Wang and Satyandra K. Gupta
*Equal Contribution
Hyper-elastic Model of Deformable Package
Suction Cup Constrained via Spring and Damper
Internal Rigid Object
N = 286 (Too Small, Object Falls Off)
N = 608
N = 1050
N = 1612
Ability to launch multiple environments at once
Each environment can be stepped independently
Suitable for training RL policies