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Differentiable physics simulation provides an avenue for tackling previouslyintractable challenges through gradient-based optimization, thereby greatlyimproving the efficiency of solving robotics-related problems. To applydifferentiable simulation in diverse robotic manipulation scenarios, a keychallenge is to integrate various materials in a unified framework. We presentSoftMAC, a differentiable simulation framework coupling soft bodies witharticulated rigid bodies and clothes. SoftMAC simulates soft bodies with thecontinuum-mechanics-based Material Point Method (MPM). We provide aforecast-based contact model for MPM, which greatly reduces artifacts likepenetration and unnatural rebound. To couple MPM particles with deformable andnon-volumetric clothes meshes, we also propose a penetration tracing algorithmthat reconstructs the signed distance field in local area. Based on simulatorsfor each modality and the contact model, we develop a differentiable couplingmechanism to simulate the interactions between soft bodies and the other twotypes of materials. Comprehensive experiments are conducted to validate theeffectiveness and accuracy of the proposed differentiable pipeline indownstream robotic manipulation applications. Supplementary materials andvideos are available on our project website athttps://sites.google.com/view/softmac.

SoftMAC: Differentiable Soft Body Simulation with Forecast-based Contact Model and Two-way Coupling with Articulated Rigid Bodies and Clothes