Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact   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.

31
The categories of this paper are: ao-sci
21
The categories of this paper are: adap-org
12
The categories of this paper are: nucl-th
27
The categories of this paper are: comp-gas
36
The categories of this paper are: cmp-lg
19
The categories of this paper are: eess
14
The categories of this paper are: math-ph
11
The categories of this paper are: hep-lat
4
The categories of this paper are: cond-mat
33
The categories of this paper are: plasm-ph
18
The categories of this paper are: econ
34
The categories of this paper are: chem-ph
32
The categories of this paper are: atom-ph
3
The categories of this paper are: physics
10
The categories of this paper are: q-bio
15
The categories of this paper are: nucl-ex