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Graph."],"published-print":{"date-parts":[[2021,8,31]]},"abstract":"<jats:p>\n            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\n            <jats:italic>via<\/jats:italic>\n            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.\n          <\/jats:p>","DOI":"10.1145\/3450626.3459832","type":"journal-article","created":{"date-parts":[[2021,7,20]],"date-time":"2021-07-20T00:04:26Z","timestamp":1626739466000},"page":"1-14","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":56,"title":["DiffAqua"],"prefix":"10.1145","volume":"40","author":[{"given":"Pingchuan","family":"Ma","sequence":"first","affiliation":[{"name":"MIT CSAIL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"Du","sequence":"additional","affiliation":[{"name":"MIT CSAIL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"John Z.","family":"Zhang","sequence":"additional","affiliation":[{"name":"ETH Zurich, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kui","family":"Wu","sequence":"additional","affiliation":[{"name":"MIT CSAIL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Andrew","family":"Spielberg","sequence":"additional","affiliation":[{"name":"MIT CSAIL"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Robert K.","family":"Katzschmann","sequence":"additional","affiliation":[{"name":"ETH Zurich, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wojciech","family":"Matusik","sequence":"additional","affiliation":[{"name":"MIT CSAIL"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2021,7,19]]},"reference":[{"key":"e_1_2_2_1_1","volume-title":"Shapesynth: Parameterizing model collections for coupled shape exploration and synthesis. 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