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

Pingchuan Ma, Tao Du, John Z. Zhang, Kui Wu, Andrew Spielberg, Robert K. Katzschmann, and Wojciech Matusik

SIGGRAPH 2021 [Project Page] [Paper] [Video]

@article{ma2021diffaqua,
  title={DiffAqua: A Differentiable Computational Design Pipeline for Soft Underwater Swimmers with Shape Interpolation},
  author={Ma, Pingchuan and Du, Tao and Zhang, John Z and Wu, Kui and Spielberg, Andrew and Katzschmann, Robert K and Matusik, Wojciech},
  journal={ACM Transactions on Graphics (TOG)},
  volume={40},
  number={4},
  pages={132},
  year={2021},
  publisher={ACM New York, NY, USA}
}

Get Started

Prerequistes

Ubuntu 18.04 LTS
CUDA 10.2

Anaconda 2020.11

wget -P /tmp https://repo.anaconda.com/archive/Anaconda3-2020.11-Linux-x86_64.sh
sh /tmp/Anaconda3-2020.11-Linux-x86_64.sh

Suitesparse

# probably need `sudo`
apt-get install libsuitesparse-dev

Installation

Restore Anaconda environment

conda env create -f environment.yml
conda activate diffaqua

Install diffpd

cd /path/to/root/external/diffpd/
pip install -e . -v

Install diffaqua
```
cd /path/to/root/
pip install -e . -v
```

Run Experiment

Open-loop co-optimization

cd /path/to/root/example/
python openloop.py

More to come!

Visualize the results using tensorboard

cd /path/to/root/example/experiments/
tensorboard --logdir . --port 8888

Contact

If you have any questions about the paper or the codebase, please feel free to contact pcma@csail.mit.edu.

sq2100 / DiffAqua