deformable objects

DeformSmith: Physics Harness-Guided Hierarchical Generation of Deformable Assets for Robot Manipulationarxiv.org

DeformSmith is a framework that generates physically plausible deformable assets for robot manipulation from a text prompt or a single image, using a hierarchical construction process guided by a shared physics harness. It outperforms prior baselines in visual fidelity and physical realism while also producing interaction data for downstream tasks.