Deformable Object Simulation

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13 papers in the last four weeks, against 2 the four weeks before. 0.1% of all new papers.

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Predicting Cable Dynamics with Physical Attention Bias
Oct 8, 2026Avihai Giuili, Rotem Atari, Avishai Sintov +1Deformable Object Simulation Attention Mechanisms
Tel Aviv University · Meta AI
Same Action, Different Outcome: Variability in Dynamic Cloth Manipulation
Oct 7, 2026Mahed Dadgostar, Guillem Alenyà, Júlia BorràsDeformable Object Manipulation Robotic Manipulation
Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Spain
Video-to-Model: Automatic Modeling of Deformable Linear Objects
Oct 7, 2026Akshun Sharma, Kimia Forghani, Yancy Diaz-MercadoDeformable Object Simulation
Department of Mechanical Engineering, University of Maryland College Park, Maryland, USA
Point It, Strike It: Direction-Conditioned Dynamic Manipulation of Deformable Linear Objects
Oct 7, 2026Yi Yang, Xiang Fei, Lehong Wang +9Deformable Object Manipulation Dynamic Robotic Manipulation
The Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213 USA. · School of Ocean and Civil Engineering, Shanghai Jiao Tong University, 800 Dongchuan Rd, Minhang District, Shanghai, China. · Zhiyuan College, Shanghai Jiao Tong University, 800 Dongchuan Rd, Minhang District, Shanghai, China. +1
PhysLDM: Latent Diffusion for High-Fidelity Deformable Simulation
Oct 6, 2026Yu Zhang, Xudong Xu, Xingang PanVariational Autoencoders Latent Diffusion Models
S-Lab, Nanyang Technological University, Singapore · Shanghai Artificial Intelligence Laboratory, Shanghai, China
AIM: Adaptive Interaction Modeling Networks for Real-to-Sim Soft-Body Simulation
Oct 5, 2026Tiancheng Yang, Dingshuo Chen, Tianle Chen +2Robotics Simulation Robot Dynamics Learning
NLPR, MAIS, Institute of Automation, Chinese Academy of Sciences · School of Advanced Interdisciplinary Sciences, University of Chinese Academy of Sciences · School of Artificial Intelligence, University of Chinese Academy of Sciences +1
STC-MPM: Coupled Deformation, Progressive Damage, and Cut Formation in Soft-Tissue Cutting
Oct 5, 2026Kewei Zuo, Jiahe Chen, Ziao Kuang +2Material Point Method Materials Science
Department of Precision Engineering, The University of Tokyo, Tokyo, Japan
PowerSim: Differentiable Physics Simulation and Rendering with Power Diagrams
Sep 29, 2026Trong-Tung Nguyen, Anand BhattadDifferentiable Rendering 3D Scene Representation
Johns Hopkins University
FracGen: Learning How Objects Stretch and Tear with Physics-Informed Video Generation
Sep 29, 2026Trong-Tung Nguyen, Jiahan Zhang, Anand BhattadPhysics-Informed Generative Modeling Physical Consistency in Video Generation
Johns Hopkins University
FORM: Robot Manipulation through Direct Material Law Identification
Sep 29, 2026Stepan Tretiakov, Ruihan Zhao, Cheng-Hsi Hsiao +6Deformable Object Manipulation Robotic Manipulation
Department of Mechanical Engineering, University of California, Berkeley, CA 94720, USA. · Chandra Family Department of Electrical and Computer Engineering · Maseeh Department of Civil, Architectural and Environmental Engineering +2
CoDimRecon: Agentic Reconstruction of Sim-Ready 3D Scenes with Deformable Curves, Surfaces, and Volumes
Sep 28, 2026Shuzhao Xie, Lelin Wang, Guying Lin +2Articulated Object Reconstruction 3D Reconstruction
SIGS, Tsinghua University · Carnegie Mellon University · Genesis AI
A Simple Gripper Interface for Simulator-Agnostic Cloth Manipulation
Sep 24, 2026Abhilash Nayak, Franco Coltraro, Maria Alberich-Carramiñana +1Robotic Grasping Robotics Simulation
Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Barcelona, Spain · Departament de Matemàtiques, Universitat Politècnica de Catalunya, Barcelona, Spain
TAPESIM: Efficient Simulation of Adhesive Tape Dispensing for Robotic Manipulation
Sep 23, 2026Zhaofeng Luo, Xinyu Lu, Jaehoon Choi +10Contact-Rich Robotic Manipulation Robotics Simulation
Carnegie Mellon University · Genesis AI
BladeMaster: Real-Time Robotic Cutting Simulation with Online-Generated Persistent Discontinuities
Sep 23, 2026Zhanyu Yang, Yunuo Chen, Yanjia Huang +3Robotics Simulation Deformable Object Manipulation
Purdue University, USA · UCLA, USA · Envora Inc., USA +2
Contact-Stable Deformable Tissue Simulation Using Implicit Integration and Live-Pose Grasp Constraints for Laparoscopic Surgery Robot Policy Evaluation
Sep 22, 2026Juahn Oh, Dongho Yee, Jinseok Lee +9Contact-Rich Robotic Manipulation Robotics Simulation
Department of Transdisciplinary Medicine, Seoul National University Hospital, Seoul, Republic of Korea. · Rosota Inc., Seoul, Republic of Korea. · Eulji University College of Medicine, Daejeon, Republic of Korea. +6
WorldContact: A Contact-Centric World Model for Scalable Robot Learning
Sep 17, 2026Caoliwen Wang, Mengdi Wang, Heng Zhang +7Robot Policy Adaptation World Models for Robotics
University of British Columbia · Westlake University · Style3D Research
DeformSmith: Physics Harness-Guided Hierarchical Generation of Deformable Assets for Robot Manipulation
Sep 16, 2026Can Li, Jie Gu, Zishun Deng +23D Asset Generation Robotics Simulation
Nankai University · Rightly Robotics, A4x
ForwardDLO: Model-Based Bimanual Shape Matching of Unconstrained Deformable Linear Objects
Sep 16, 2026Tim Missal, Berk Guler, Lucas Domingues +3Bimanual Robotic Manipulation Deformable Object Manipulation
Technical University of Darmstadt · Honda Research Institute Europe GmbH · School of Electrical and Computer Engineering, Universidade Estadual de Campinas (UNICAMP), Brazil +4
RealSimLoop: Online Real-to-Sim Adaptation via Differentiable Reduced-Order Simulation with Vision Feedback
Sep 9, 2026Zhihao Cen, Chuhua Xian, Hailin Sun +6Physics-Based Simulation Deformable Object Simulation
South China University of Technology, China · The Chinese University of Hong Kong, China · The Chinese University of Hong Kong / Multi-scale Medical Robotics Centre, Hong Kong SAR, China +1
PhysReal: Learning Real-World Deformable Object Physics via Hybrid Constitutive Modeling
Sep 7, 2026Yinan Deng, Jianqiao Song, Yisi Zhang +3Dynamic Scene Reconstruction Physics-Based Simulation
CRESSim-Neo: A Batched GPU Simulation Engine for Surgical Robotics and Robot Learning
Aug 25, 2026Yafei Ou, Ahnaf Naheen, Tleukhan Mussin +3Robotics Simulation Synthetic Data Generation for Robotics
Department of Electrical and Computer Engineering; 2Department of Biomedical Engineering, University of Alberta, Edmonton, Alberta, Canada.
LaGSplat: Inferring Physics-Governed Interactive Simulation from Monocular Video Using Latent Lagrangian Gaussian Splatting
Aug 17, 2026Louen Pottier3D Gaussian Splatting Latent Dynamics Modeling
Université Paris-Saclay, CEA, List, F-91120 Palaiseau, France
BendTwin: Robust Dense-to-Sparse Physical Reconstruction with Bending-Aware Differentiable Spring-Mass Models
Aug 6, 2026Yixiong Jing, Qi Wang, Lin Chen +6Structural Mechanics Sparse-View 3D Reconstruction
University of Cambridge · Institute of Automation, Chinese Academy of Sciences · Northwestern Polytechnical University +1
GAUGE: A Measurement-Grounded Benchmark for Physical Fidelity in Simulation Engines and Video World Models
Aug 6, 2026Shuai Wang, Yaxin Feng, Xuekun Jiang +12Physical Consistency in Video Generation World Model Evaluation
1Shanghai Artificial Intelligence Laboratory · 2Hong Kong University of Science and Technology · 3Shanghai Jiao Tong University +1
Convex Collision-Free Regions
Jul 29, 2026Tomoyo Kikuchi, Takashi KanaiCollision Avoidance Physics-Based Simulation
Kyoto University, Japan · The University of Tokyo, Japan
Sling2Sim2Real: One-Shot Elastic System Identification for Non-Destructive Slingshot Policy Learning
Jul 25, 2026Wonjae Kang, Geonwoo Kim, Minseok Song +1Robot Dynamics Identification Robotics Simulation
School of Computing, Korea Advanced Institute of Science and Technology, Korea
ODeform: Learning Continuous 4D Motion for Shape Deformation with Neural ODEs
Jul 22, 2026Yordanka Velikova, Mahdi Saleh, Liming Kuang +1Neural ODEs Deformable Object Simulation
Technical University of Munich · Munich Center for Machine Learning (MCML)
PhysCoRe: Physics-Corrected Residual World Models for Material-Aware Deformable Dynamics
Jul 22, 2026Haocheng Yin, Shuohan Tao, Yongsheng Chen +1World Models for Robotics Deformable Object Manipulation
Georgia Institute of Technology
BoxTwin: Learning Elastoplastic Articulated Object Dynamics from Videos
Jul 19, 2026Heng Zhang, Gehan Zheng, Kaifeng Zhang +6Articulated Object Reconstruction Deformable Object Manipulation
Heng Zhang, Gehan Zheng, Kaifeng Zhang, Jay Song, Shivansh Patel, Sonny Hu, Yunzhu Li and Changxi Zheng are with SceniX, Inc. · Peter Yichen Chen is with the University of British Columbia.
Learning Physics-Guided Residual Dynamics for Deformable Object Simulation
Jul 15, 2026Shivansh Patel, Kaifeng Zhang, Sanjay Pokkali +2Residual Learning Residual Dynamics Learning
UIUC · Columbia University

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Predicting Cable Dynamics with Physical Attention Bias

Avihai Giuili, Rotem Atari, Avishai Sintov, Maya Bechler-Speicher

Tel Aviv University · Meta AI

Deformable Object Simulation Attention Mechanisms

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Learned simulators for deformable linear objects (DLOs) such as cables have to predict the motion of cables they were not trained on and stay stable over long rollouts. Most of their error occurs where the cable touches itself or the floor. Attention over all pairs of cable segments can represent contact between parts of the cable that are far apart along its length, but attention has no notion of geometry. A cable has two pairwise distances, which agree only while it is straight: the arc-length distance along the cable, which governs elastic forces, and the Euclidean distance in space, which governs contact. We add a physical attention bias, an additive term on the attention logits with a learned rate, and ask which distance it should use. We compare no bias, each distance alone, and both distances on disjoint sets of heads, keeping the rest of the model and the training protocol fixed. A physical bias improves prediction on unseen cables. The gain is largest when attention is the only mechanism that connects distant segments: there, the arc-length bias reduces prediction error by 15% and more than halves the drift in segment length. The Euclidean bias alone stays close to unbiased attention, while assigning both distances across heads is best or near-best on every metric we report. Code and per-run records: https://github.com/avihaig/dlogps.

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Latest papers 61