RISP: Rendering-Invariant State Predictor

with Differentiable Simulation and Rendering

for Cross-Domain Parameter Estimation

Pingchuan Ma*, Tao Du*, Joshua B. Tenenbaum, Wojciech Matusik, and Chuang Gan

International Conference on Learning Representations (ICLR), 2022 [Oral]

We use RISP to reconstruct the dynamic motion of a quadrotor (left) from a real-world video input (right).

A rigid-body physical system

A rigid-body physical system with contact

An articulated body physical system

A deformable-body physical system