arxivcs.ROcs.AIcs.CV2026-07-15
Learning Physics-Guided Residual Dynamics for Deformable Object Simulation
Shivansh Patel, Kaifeng Zhang, Sanjay Pokkali, Svetlana Lazebnik, Yunzhu Li
Simulating deformable objects is essential for a wide range of robotic manipulation applications, yet accurately predicting their dynamics remains challenging. We propose Physics-Guided Residual Dynamics (PGRD), a hybrid simulation framework that combines the advantages of physic…