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]

Real Quadrotor [🔗]

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

Quadrotor [🔗]

A rigid-body physical system

A rigid-body physical system with contact

An articulated body physical system

A deformable-body physical system

Dataset Illustration

System Identification

Imitation Learning

Visuomotor Control

Dataset Illustration

System Identification

Dataset Illustration

System Identification

Imitation Learning

Visuomotor Control

Dataset Illustration

System Identification

Imitation Learning

Visuomotor Control

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