DiffImpact: Differentiable Rendering and Identification of Impact Sounds

Samuel Clarke, Negin Heravi, Mark Rau, Ruohan Gao, Jiajun Wu, Doug James, Jeannette Bohg

Abstract: Rigid objects make distinctive sounds during manipulation. These sounds are a function of object features, such as shape and material, and of contact forces during manipulation. Being able to infer...