发表机构
Purdue University; UCLA; Envora Inc.; Toyota Research Institute; University of Utah（普渡大学; 加州大学洛杉矶分校; Envora公司; 丰田研究所; 犹他大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对机器人切割模拟中形状与拓扑变化难题，提出基于总拉格朗日物质点法的GPU加速框架BladeMaster，通过在线生成的持久侧标签编码切割历史，实现无预定义切割面的渐进与相交切割，并支持切割后表面接触及双向耦合，实验达到超实时性能。
AI 中文摘要
切割会改变可变形物体的形状和拓扑结构，这使得机器人操作的精确模拟具有挑战性。模拟器必须跟踪切割工具随着切割的发展，在工具撤回后保留由此产生的不连续性，并使新暴露的表面能够与工具以及彼此相互作用。现有方法通常预先规定切割表面或将材料分离与辅助几何场耦合。我们引入了BladeMaster，一个基于总拉格朗日物质点法（TLMPM）的GPU加速切割框架。我们的关键思想是通过从刀片几何形状在线生成的持久侧标签，直接将切割历史编码在物质点上。这些标签控制粒子-网格耦合，在完整材料内保持连通性，同时防止工具撤回后切割面之间的虚假耦合。我们的方法支持渐进和相交切割，无需预定义切割表面或粒子复制。材料-材料接触使切割表面能够重新接触并相互滑动而不会重新连接，而双向工具-材料耦合允许材料反作用力影响工具运动。实验展示了工具驱动的切割以及后续操作，在代表性任务上实现了超实时性能。
英文摘要
Cutting changes both the shape and topology of deformable objects, making accurate simulation challenging for robotic manipulation. A simulator must track the cutting tool as a cut develops, preserve the resulting discontinuities after tool withdrawal, and enable newly exposed surfaces to interact with the tool and with each other. Existing formulations often prescribe cut surfaces in advance or couple material separation to auxiliary geometric fields. We introduce BladeMaster, a GPU-accelerated cutting framework based on the total Lagrangian material point method (TLMPM). Our key idea is to encode the cutting history directly on material points through persistent side labels generated online from the blade geometry. These labels govern particle-grid coupling, preserving connectivity within intact material while preventing spurious coupling across cut faces after tool withdrawal. Our formulation supports progressive and intersecting cuts without predefined cut surfaces or particle duplication. Material-material contact enables cut surfaces to recontact and slide against each other without reconnecting, while two-way tool-material coupling allows material reaction forces to influence tool motion. Experiments demonstrate tool-driven cutting followed by manipulation, with faster-than-real-time performance on representative tasks. Project page: https://jango6324.github.io/blademaster/.
