Data-driven physics-based models with implicit actuations

One or more non-transitory computer-readable media storing instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of:

• receiving a latent code that represents a target shape;
• inputting the latent code and an input point on a geometric mesh associated with the target shape into a first machine learning model;
• generating, via execution of the first machine learning model, one or more simulator control values that specify a deformation of the geometric mesh, wherein each of the simulator control values is based on the latent code and corresponds to the input point on the geometric mesh;
• generating, via execution of a differentiable simulator, a simulated soft body based on the one or more simulator control values and the geometric mesh;
• and
• causing the simulated soft body to be outputted to a computing device, wherein the simulated soft body is used to perform one or more simulation operations.

A system, comprising:

• one or more memories that store instructions, and
• one or more processors that are coupled to the one or more memories and, when executing the instructions, are configured to perform the steps of:
• receiving a latent code that represents a target shape;
• inputting the latent code and an input point on a geometric mesh associated with the target shape into a first machine learning model;
• generating, via execution of the first machine learning model, one or more simulator control values that specify a deformation of the geometric mesh, wherein each of the simulator control values is based on the latent code and corresponds to the input point on the geometric mesh;
• generating, via execution of a differentiable simulator, a simulated soft body based on the one or more simulator control values and the geometric mesh;
• and
• causing the simulated soft body to be outputted to a computing device, wherein the simulated soft body is used to perform one or more simulation operations.