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

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

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 e

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