# 在关键处细化：面向可变形物体操作的接触自适应网格划分

> 原文链接：https://robotics.hellobike.com/papers/2026-10-09-2610-14142
> 频道：papers | 更新日期：2026-10-09 | 标签：arxiv, cs.RO
> 核心摘要：针对可变形物体接触局部建模与速度矛盾，提出接触自适应网格细化，并在真实操作序列中验证。

# 在关键处细化：面向可变形物体操作的接触自适应网格划分

::: v-pre
> 原文链接：[Refine Where It Matters: Contact-Adaptive Meshing for Deformable Object Manipulation](https://arxiv.org/abs/2610.14142)（arXiv 2610.14142 · 发布日期：2026-10-09）

**Refine Where It Matters: Contact-Adaptive Meshing for Deformable Object Manipulation**

针对可变形物体接触局部建模与速度矛盾，提出接触自适应网格细化，并在真实操作序列中验证。

## 核心要点

- 均匀细四面体网格能解析接触但自由度冗余，粗网格又可能低估接触诱发形变。
- 方法利用求解器已有的几何、弹性和接触量为候选边评分，只在有用位置增加分辨率。
- 全GPU并行流程选择无冲突子集，并在仿真循环内更新网格拓扑和物理状态。
- 真实可变形物体操作序列上，该方法降低sim-to-real误差，更接近细网格参考且效率更高。

**验证范围与局限**：验证范围为真实可变形物体操作序列，并与细网格参考进行对比。

## 英文摘要 (Abstract)

Deformable-object manipulation requires accurate modeling of highly localized contact while maintaining simulation speeds suitable for interactive use. Uniformly fine tetrahedral meshes can resolve these interactions, but they introduce unnecessary degrees of freedom throughout the object. Coarse meshes are more efficient, yet they may under-resolve contact-induced deformation. We present a contact-adaptive mesh refinement framework that introduces spatial resolution only where it is most useful. The method uses geometric, elastic, and contact quantities already available from the deformable-body solver to score candidate edges. A fully GPU-parallel procedure then selects a conflict-free subset and updates both mesh topology and physical state directly within the simulation loop. We evaluate the approach on real deformable-object manipulation sequences. Adaptive refinement reduces simulation-to-real error, improves agreement with a fine-mesh reference, and remains substantially more efficient than uniformly fine simulation. These results show that local refinement can improve physical fidelity without incurring the cost of a globally fine discretization. The framework provides a practical basis for contact-rich simulation in interactive manipulation, sim-to-real modeling, and online physical digital twins.

作者：Gabriel Johnson, Tom Olesch, Fei Liu
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## 原始参考来源 (Sources)

- [arXiv 2610.14142：Refine Where It Matters: Contact-Adaptive Meshing for Deformable Object Manipulation](https://arxiv.org/abs/2610.14142)