mlsanityData to 7 Oct 2026

DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact

arXiv 2106.05306 ↗First posted 9 Jun 2021cs.GR cs.LGcited by 64

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Abstract (arXiv)

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. We draw inspiration from previous work 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.

Key facts. Cited by 64 papers in the map (data through 7 Oct 2026). Builds on 15 of its 98 references that are in the map. First posted on arXiv 9 Jun 2021.

Builds on

15 of 98 references.

References · 15

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2017Proximal Policy Optimization Algorithmscited by 14,441
  3. 2020Learning to Simulate Complex Physics with Graph Networkscited by 867
  4. 2019DiffTaichi: Differentiable Programming for Physical Simulationcited by 248
  5. 2018Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluidscited by 219
  6. 2020Learning to Control PDEs with Differentiable Physicscited by 131
  7. 2016A Differentiable Physics Engine for Deep Learning in Roboticscited by 107
  8. 2021gradSim: Differentiable simulation for system identification and visuomotor controlcited by 100
  9. 2018ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Roboticscited by 98
  10. 2020Scalable Differentiable Physics for Learning and Controlcited by 72
  11. 2018SPNets: Differentiable Fluid Dynamics for Deep Neural Networkscited by 62
  12. 2021DiffPD: Differentiable Projective Dynamicscited by 62
3 more
  1. 2020Codimensional Incremental Potential Contactcited by 33
  2. 2020P-Cloth: Interactive Complex Cloth Simulation on Multi-GPU Systems using Dynamic Matrix Assembly and Pipelined Implicit Integratorscited by 26
  3. 2019Learning to Collaborate from Simulation for Robot-Assisted Dressingcited by 16

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 8; 2023: 14; 2024: 13; 2025: 15; 2026: 14.

64 papers.

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  1. 2022HOOD: Hierarchical Graphs for Generalized Modelling of Clothing Dynamicscited by 77
  2. 2024PhysAvatar: Learning the Physics of Dressed 3D Avatars from Visual Observationscited by 51
  3. 2022NeuPhysics: Editable Neural Geometry and Physics from Monocular Videoscited by 50
  4. 2024GIC: Gaussian-Informed Continuum for Physical Property Identification and Simulationcited by 48
  5. 2023DiffAvatar: Simulation-Ready Garment Optimization with Differentiable Simulationcited by 40
  6. 2022State of the Art in Dense Monocular Non-Rigid 3D Reconstructioncited by 30
  7. 2023DiffuseBot: Breeding Soft Robots With Physics-Augmented Generative Diffusion Modelscited by 30
  8. 2022SAM-RL: Sensing-Aware Model-Based Reinforcement Learning via Differentiable Physics-Based Simulation and Renderingcited by 22
  9. 2023ClothesNet: An Information-Rich 3D Garment Model Repository with Simulated Clothes Environmentcited by 22
  10. 2026LLM-as-a-Verifier: A General-Purpose Verification Frameworkcited by 21
  11. 2022Dressing Avatars: Deep Photorealistic Appearance for Physically Simulated Clothingcited by 19
  12. 2024Atlas3D: Physically Constrained Self-Supporting Text-to-3D for Simulation and Fabricationcited by 19
38 more
  1. 2025Dress-1-to-3: Single Image to Simulation-Ready 3D Outfit with Diffusion Prior and Differentiable Physicscited by 19
  2. 2023DiffMimic: Efficient Motion Mimicking with Differentiable Physicscited by 17
  3. 2024Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulationcited by 14
  4. 2024ManiFoundation Model for General-Purpose Robotic Manipulation of Contact Synthesis with Arbitrary Objects and Robotscited by 11
  5. 2024NeuralFluid: Neural Fluidic System Design and Control with Differentiable Simulationcited by 10
  6. 2022Fine-grained differentiable physics: a yarn-level model for fabricscited by 9
  7. 2023SoftMAC: Differentiable Soft Body Simulation with Forecast-based Contact Model and Two-way Coupling with Articulated Rigid Bodies and Clothescited by 9
  8. 2024SimAvatar: Simulation-Ready Avatars with Layered Hair and Clothingcited by 9
  9. 2022Differentiable Hybrid Traffic Simulationcited by 8
  10. 2023Physics-guided Shape-from-Template: Monocular Video Perception through Neural Surrogate Modelscited by 8
  11. 2024PICA: Physics-Integrated Clothed Avatarcited by 8
  12. 2024Neural Garment Dynamics via Manifold-Aware Transformerscited by 8
  13. 2025MPMAvatar: Learning 3D Gaussian Avatars with Accurate and Robust Physics-Based Dynamicscited by 8
  14. 2023Learning Anchor Transformations for 3D Garment Animationcited by 7
  15. 2023Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contactcited by 7
  16. 2025MASIV: Toward Material-Agnostic System Identification from Videoscited by 7
  17. 2022Differentiable Physics Simulations with Contacts: Do They Have Correct Gradients w.r.t. Position, Velocity and Control?cited by 6
  18. 2023How Will It Drape Like? Capturing Fabric Mechanics from Depth Imagescited by 6
  19. 2023NeuralClothSim: Neural Deformation Fields Meet the Thin Shell Theorycited by 6
  20. 2023DiffVL: Scaling Up Soft Body Manipulation using Vision-Language Driven Differentiable Physicscited by 6
  21. 2026MOSIV: Multi-Object System Identification from Videoscited by 6
  22. 2023Improving Gradient Computation for Differentiable Physics Simulation with Contactscited by 5
  23. 2024SENC: Handling Self-collision in Neural Cloth Simulationcited by 4
  24. 2025Thin-Shell-SfT: Fine-Grained Monocular Non-rigid 3D Surface Tracking with Neural Deformation Fieldscited by 3
  25. 2026DiffWind: Physics-Informed Differentiable Modeling of Wind-Driven Object Dynamicscited by 3
  26. 2026Robustness without Wrinkles: Parallel Simulation and Robust MPC for Certified Deformable Manipulationcited by 3
  27. 2023Neural inverse procedural modeling of knitting yarns from imagescited by 2
  28. 2024Bayesian Differentiable Physics for Cloth Digitalizationcited by 2
  29. 2025Prof. Robot: Differentiable Robot Rendering Without Static and Self-Collisionscited by 2
  30. 2025FOLIAGE: Towards Physical Intelligence World Models Via Unbounded Surface Evolutioncited by 2
  31. 2025SpringTime: Learning Simulatable Models of Cloth with Spatially-varying Constitutive Propertiescited by 2
  32. 2026NeuROK: Generative 4D Neural Object Kinematicscited by 2
  33. 2023Diff-Transfer: Model-based Robotic Manipulation Skill Transfer via Differentiable Physics Simulationcited by 1
  34. 2024A Physics-embedded Deep Learning Framework for Cloth Simulationcited by 1
  35. 2024A Comparative Study of Garment Draping Techniquescited by 1
  36. 2025ChronoTailor: Harnessing Attention Guidance for Fine-Grained Video Virtual Try-Oncited by 1
  37. 2025Dream4D: Lifting Camera-Controlled I2V towards Spatiotemporally Consistent 4D Generationcited by 1
  38. 2025Neural Modular Physics for Elastic Simulationcited by 1

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