{"ID":2828908,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.13214","arxiv_id":"2512.13214","title":"Differentiable Material Point Method for the Control of Deformable Objects","abstract":"Controlling the deformation of flexible objects is challenging due to their non-linear dynamics and high-dimensional configuration space. This work presents a differentiable Material Point Method (MPM) simulator targeted at control applications. We exploit the differentiability of the simulator to optimize a control trajectory in an active damping problem for a hyperelastic rope. The simulator effectively minimizes the kinetic energy of the rope around 2$\\times$ faster than a baseline MPPI method and to a 20% lower energy level, while using about 3% of the computation time.","short_abstract":"Controlling the deformation of flexible objects is challenging due to their non-linear dynamics and high-dimensional configuration space. This work presents a differentiable Material Point Method (MPM) simulator targeted at control applications. We exploit the differentiability of the simulator to optimize a control tr...","url_abs":"https://arxiv.org/abs/2512.13214","url_pdf":"https://arxiv.org/pdf/2512.13214v1","authors":"[\"Diego Bolliger\",\"Gabriele Fadini\",\"Markus Bambach\",\"Alisa Rupenyan\"]","published":"2025-12-15T11:26:51Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}