Differentiable simulation for system identification and visuomotor control

Last update: Dec 18, 2022

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Overview

gradsim

gradSim: Differentiable simulation for system identification and visuomotor control

gradSim is a unified differentiable rendering and multiphysics framework that allows solving a range of control and parameter estimation tasks (rigid bodies, deformable solids, and cloth) directly from images/video. Our unified computation graph — spanning from the dynamics and through the rendering process — enables learning in challenging visuomotor control tasks, without relying on state-based (3D) supervision, while obtaining performance competitive to or better than techniques that rely on precise 3D labels.

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Citing gradSim

For attribution in academic contexts, please cite this work as

Citation

Jatavallabhula and Macklin et al., "gradSim: Differentiable simulation for system identification and visuomotor control", ICLR 2021.

BibTeX citation

@article{gradsim,
  title   = {gradSim: Differentiable simulation for system identification and visuomotor control},
  author  = {Krishna Murthy Jatavallabhula and Miles Macklin and Florian Golemo and Vikram Voleti and Linda Petrini and Martin Weiss and Breandan Considine and Jerome Parent-Levesque and Kevin Xie and Kenny Erleben and Liam Paull and Florian Shkurti and Derek Nowrouzezahrai and Sanja Fidler},
  journal = {International Conference on Learning Representations (ICLR)},
  year    = {2021},
  url     = {https://openreview.net/forum?id=c_E8kFWfhp0},
  pdf     = {https://openreview.net/pdf?id=c_E8kFWfhp0},
}

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Comments

AttributeError raised in multiple examples

Environment information: ubuntu:20.04 python:3.7 cuda:11.3 pytorch:1.10.1 kaolin:0.1.0

For example,when I run demo_cloth.py, an error raised as following: Using cached kernels Traceback (most recent call last): File "demo_cloth.py", line 81, in pos=builder.particle_positions[attach0] - (1.0, 0.0, 0.0), AttributeError: 'ModelBuilder' object has no attribute 'particle_positions'

I can't find "particle_positions" anywhere in "gradsim/gradsim/dflex" Please what should I do to solve this problem? By the way, what are your pytorch versions? I would like to try downgrading pytorch to a specific version to give it a try.

opened by wtichng 0

AttributeError raised in multiple examples

For example, when I run control_fem.py, error raised as following:

Error: 'Tuple' object has no attribute 'value' while transforming node <class 'ast.Subscript'> in func: eval_triangles at line: 41 col: 14: 
        f1 = qp * Dm[0, 0] + rp * Dm[1, 0]
Error: 'Tuple' object has no attribute 'value' while transforming node <class 'ast.BinOp'> in func: eval_triangles at line: 41 col: 9: 
        f1 = qp * Dm[0, 0] + rp * Dm[1, 0]
Error: 'Tuple' object has no attribute 'value' while transforming node <class 'ast.BinOp'> in func: eval_triangles at line: 41 col: 9: 
        f1 = qp * Dm[0, 0] + rp * Dm[1, 0]
Error: 'Tuple' object has no attribute 'value' while transforming node <class 'ast.Assign'> in func: eval_triangles at line: 41 col: 4: 
        f1 = qp * Dm[0, 0] + rp * Dm[1, 0]
Error: 'Tuple' object has no attribute 'value' while transforming node <class 'ast.FunctionDef'> in func: eval_triangles at line: 2 col: 0: 
    def eval_triangles(x: df.tensor(df.float3),
Traceback (most recent call last):
  File "/home/yueying/gradsim/examples/control_fem.py", line 12, in <module>
    from gradsim import dflex as df
  File "/home/yueying/gradsim/gradsim/dflex/__init__.py", line 34, in <module>
    kernel_init()
  File "/home/yueying/gradsim/gradsim/dflex/sim.py", line 92, in kernel_init
    kernels = df.compile()
  File "/home/yueying/gradsim/gradsim/dflex/adjoint.py", line 1693, in compile
    adj = Adjoint(kernel.func, device='cuda')
  File "/home/yueying/gradsim/gradsim/dflex/adjoint.py", line 628, in __init__
    adj.eval(adj.tree.body[0])
  File "/home/yueying/gradsim/gradsim/dflex/adjoint.py", line 817, in eval
    out = adj.eval(f)
  File "/home/yueying/gradsim/gradsim/dflex/adjoint.py", line 1029, in eval
    out = adj.eval(node.value)
  File "/home/yueying/gradsim/gradsim/dflex/adjoint.py", line 915, in eval
    left = adj.eval(node.left)
  File "/home/yueying/gradsim/gradsim/dflex/adjoint.py", line 916, in eval
    right = adj.eval(node.right)
  File "/home/yueying/gradsim/gradsim/dflex/adjoint.py", line 1013, in eval
    if isinstance(node.slice.value, ast.Num):
AttributeError: 'Tuple' object has no attribute 'value'

opened by 315930399 0

ImportError raised when I run hellogradsim.py

When I run hellogradsim.py, an error raised as following:

Traceback (most recent call last):
  File "/home/yueying/gradsim/examples/hellogradsim.py", line 10, in <module>
    from gradsim.renderutils import SoftRenderer, TriangleMesh
ImportError: cannot import name 'TriangleMesh' from 'gradsim.renderutils' (/home/yueying/gradsim/gradsim/renderutils/__init__.py)

opened by 315930399 3

Owner

GitHub

Differentiable simulation for system identification and visuomotor control

Related tags

Overview

gradsim

Citing gradSim

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Comments

AttributeError raised in multiple examples

AttributeError raised in multiple examples

ImportError raised when I run hellogradsim.py

Owner

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