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BladeMaster: Real-Time Robotic Cutting Simulation with Online-Generated Persistent Discontinuities — arXiv:2609.27342

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.27342
License (as archived): CC0-1.0
Archived: 2026-10-08T12:53:29.929Z
SHA-256 of the archived text: b6f6bd862216d8cf3f50fcb954d1a3aa200bf420ab9b9804005ec979e5618184
Stable URL of this page: https://metraipolis.com/documento/dc_ef68fac404df

How to cite

BladeMaster: Real-Time Robotic Cutting Simulation with Online-Generated Persistent Discontinuities — arXiv:2609.27342 — arXiv (en), https://arxiv.org/abs/2609.27342 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_ef68fac404df (Metraipolis archive dc_ef68fac404df, sha256 b6f6bd862216d8cf3f50fcb954d1a3aa200bf420ab9b9804005ec979e5618184)

BibTeX

@misc{dcef68fac404df,
  title = {BladeMaster: Real-Time Robotic Cutting Simulation with Online-Generated Persistent Discontinuities — arXiv:2609.27342},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.27342},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_ef68fac404df; sha256 b6f6bd862216d8cf3f50fcb954d1a3aa200bf420ab9b9804005ec979e5618184},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.27342. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

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: this https URL .

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-24 in cs.RO).
Categorie arXiv: Robotics (cs.RO) ; Graphics (cs.GR).
Pagina del lavoro: https://arxiv.org/abs/2609.27342 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-08T12:21:19.463Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-24?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).