ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation

Project Page | Paper

This repository contains the codebase used in ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation, which will appear in RSS 2022 and is nominated for Best Student Paper Award. Specifically, the repo contains code for:

• PlushSim, the simulation environment used to generate all manipulation data.
• ACID model, the implicit visual dynamics model's model and training code.

If you find our code or paper useful, please consider citing

@article{shen2022acid,
  title={ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation},
  author={Shen, Bokui and Jiang, Zhenyu and Choy, Christopher and J. Guibas, Leonidas and Savarese, Silvio and Anandkumar, Anima and Zhu, Yuke},
  journal={Robotics: Science and Systems (RSS)},
  year={2022}
}

ACID model

Please see the README for more detailed information.

PlushSim

Please see the README for more detailed information.

License

Please check the LICENSE file. ACID may be used non-commercially, meaning for research or evaluation purposes only. For business inquiries, please contact researchinquiries@nvidia.com.