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Graph."],"published-print":{"date-parts":[[2023,2,28]]},"abstract":"<jats:p>\n            Cloth simulation has wide applications in computer animation, garment design, and robot-assisted dressing. This work presents a differentiable cloth simulator whose additional gradient information facilitates cloth-related applications. Our differentiable simulator extends a state-of-the-art cloth simulator based on Projective Dynamics (PD) and with dry frictional contact\u00a0[Ly et\u00a0al.\n            <jats:xref ref-type=\"bibr\">2020<\/jats:xref>\n            ]. We draw inspiration from previous work\u00a0[Du et\u00a0al.\n            <jats:xref ref-type=\"bibr\">2021<\/jats:xref>\n            ] to propose a fast and novel method for deriving gradients in PD-based cloth simulation with dry frictional contact. Furthermore, we conduct a comprehensive analysis and evaluation of the usefulness of gradients in contact-rich cloth simulation. Finally, we demonstrate the efficacy of our simulator in a number of downstream applications, including system identification, trajectory optimization for assisted dressing, closed-loop control, inverse design, and real-to-sim transfer. We observe a substantial speedup obtained from using our gradient information in solving most of these applications.\n          <\/jats:p>","DOI":"10.1145\/3527660","type":"journal-article","created":{"date-parts":[[2022,4,22]],"date-time":"2022-04-22T15:42:22Z","timestamp":1650642142000},"page":"1-20","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":70,"title":["DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact"],"prefix":"10.1145","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3770-0575","authenticated-orcid":false,"given":"Yifei","family":"Li","sequence":"first","affiliation":[{"name":"MIT CSAIL, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7337-7667","authenticated-orcid":false,"given":"Tao","family":"Du","sequence":"additional","affiliation":[{"name":"MIT CSAIL, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3326-7943","authenticated-orcid":false,"given":"Kui","family":"Wu","sequence":"additional","affiliation":[{"name":"Tencent Lightspeed &amp; Quantum Studios, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3510-3387","authenticated-orcid":false,"given":"Jie","family":"Xu","sequence":"additional","affiliation":[{"name":"MIT CSAIL, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0212-5643","authenticated-orcid":false,"given":"Wojciech","family":"Matusik","sequence":"additional","affiliation":[{"name":"MIT CSAIL, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2022,10,3]]},"reference":[{"key":"e_1_3_3_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/280814.280821"},{"key":"e_1_3_3_3_1","doi-asserted-by":"publisher","DOI":"10.1145\/2897824.2925896"},{"key":"e_1_3_3_4_1","doi-asserted-by":"publisher","DOI":"10.1145\/2601097.2601116"},{"key":"e_1_3_3_5_1","doi-asserted-by":"publisher","DOI":"10.1145\/566654.566623"},{"key":"e_1_3_3_6_1","first-page":"28","volume-title":"Proceedings of the ACM SIGGRAPH\/Eurographics Symposium on Computer Animation (SCA\u201903)","author":"Bridson R.","year":"2003","unstructured":"R. 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