Rigid Body Adversarial Attacks
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Date
2024
Journal Title
Journal ISSN
Volume Title
Publisher
The Eurographics Association
Abstract
When simulating stiff objects in graphics and robotics, rigid body simulators are extremely popular and are often used in lieu of more accurate deformable simulators due to their performance and simplicity. But even very stiff materials are deformable at some scale, affecting how objects respond to contacts and how internal stresses propagate through an object. Moreover, spatial variations of material properties in an object are not captured by the object-level parameters of a rigid body simulator: mass, center of mass and moment of inertia. In this paper, we propose using optimization techniques to construct adversarial objects using physically reasonable materials, which will behave identically to a reference object in rigid body simulation, but maximally different in more physically accurate deformable simulation. As rigid body simulators use only the collision geometry and the moments of the object, the adversarial objects require identical external geometry and first three moments of mass to the reference object. We demonstrate our method by constructing several adversarial objects and comparing the results of their simulations with their reference using the commercially available simulators POLYFEM and BULLET.
Description
@inproceedings{10.2312:sca.20241170,
booktitle = {Eurographics/ ACM SIGGRAPH Symposium on Computer Animation - Posters},
editor = {Zordan, Victor},
title = {{Rigid Body Adversarial Attacks}},
author = {Ramakrishnan, Aravind and Levin, David I. W. and Jacobson, Alec},
year = {2024},
publisher = {The Eurographics Association},
ISBN = {978-3-03868-263-9},
DOI = {10.2312/sca.20241170}
}