DiffAqua：一种基于形状插值的水下软式游泳器可微分计算设计流水线
DiffAqua: A Differentiable Computational Design Pipeline for Soft Underwater Swimmers with Shape Interpolation
摘要：
由于软体运动员的自由度很高，因此软体运动员的计算设计具有挑战性。在本文中，我们提出了一个可微管道共同设计一个软游泳的几何形状和控制器。我们的管道解锁了基于梯度的算法，比传统的无梯度解决方案更有效地发现新颖的游泳者设计。我们提出Wasserstein重心作为软水下游泳者的几何设计的基础，因为它是可区分的，可以自然地通过最佳运输生物启发的基础形状之间的插值。通过将此设计空间与可微仿真和控制相结合，我们可以有效地优化柔软的水下游泳者的性能，比基线方法具有更少的仿真。我们证明了我们的方法在各种设计问题上的有效性，如快速，稳定和节能游泳，并证明了多目标设计的适用性。
英文摘要：
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 differentiable simulation and control, we can efficiently optimize a soft underwater swimmer's performance with fewer simulations than baseline methods. We demonstrate the efficacy of our method on various design problems such as fast, stable, and energy-efficient swimming and demonstrate applicability to multi-objective design.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
