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DiffAqua: A Differentiable Computational Design Pipeline for Soft Underwater Swimmers with Shape Interpolation

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Paper Code Video BibTex DiffAqua: A Differentiable Computational Design Pipeline for Soft Underwater Swimmers with Shape Interpolation Pingchuan Ma1, Tao Du1, John Z. Zhang2, Kui Wu1, Andrew Spielberg1, Robert K. Katzschmann2, and Wojciech Matusik1 1MIT CSAIL 2ETH Zürich The overview of our differentiable pipeline for both forward and backward propagation. Abstract The computational design of soft underwater swimmers is challenging because of the high degrees of freedom in soft-body modeling. In this paper, we present a differentiable pipeline for co-designing a soft swimmer's geometry and controller. Our pipeline unlocks gradient-based algorithms for discovering novel swimmer designs more efficiently than traditional gradient-free solutions. We propose Wasserstein barycenters as a basis for the geometric design of soft underwater swimmers since it is differentiable and can naturally interpolate between bio-inspired base shapes via optimal transport. By combining this design space with

DiffAqua: A Differentiable Computational Design Pipeline for Soft Underwater Swimmers with Shape Interpolation DiffAqua: A Differentiable Computational Design Pipeline for Soft Underwater Swimmers with Shape Interpolation Pingchuan Ma 1 , Tao Du 1 , John Z. Zhang 2 , Kui Wu 1 , Andrew Spielberg 1 , Robert K. Katzschmann 2 , and Wojciech Matusik 1 1 MIT CSAIL 2 ETH Zürich The overview of our differentiable pipeline for both forward and backward propagation. Abstract The computational design of soft underwater swimmers is challenging because of the high degrees of freedom in soft-body model

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