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DTSTAMP:20260114T163633Z
LOCATION:Darling Harbour Theatre\, Level 2 (Convention Centre)
DTSTART;TZID=Australia/Melbourne:20231212T093000
DTEND;TZID=Australia/Melbourne:20231212T124500
UID:siggraphasia_SIGGRAPH Asia 2023_sess209_papers_214@linklings.com
SUMMARY:DiffFR: Differentiable SPH-based Fluid-Rigid Coupling for Rigid Bo
 dy Control
DESCRIPTION:Zhehao Li and Qingyu Xu (University of Science and Technology 
 of China), Xiaohan Ye and Bo Ren (Nankai University), and Ligang Liu (Univ
 ersity of Science and Technology of China)\n\nDifferentiable physics simul
 ation has shown its efficacy in inverse design problems. Given the pervasi
 veness of the diverse interactions between fluids and solids in life, a di
 fferentiable simulator for the inverse design of the motion of rigid objec
 ts in two-way fluid-rigid coupling is also demanded. There are two main ch
 allenges to develop a differentiable two-way fluid-solid coupling simulato
 r for rigid body control tasks: the ubiquitous, discontinuous contacts in 
 fluid-solid interactions, and the high computational cost of gradient form
 ulation due to the large number of degrees of freedom (DoF) of fluid dynam
 ics. In this work, we propose a novel differentiable particle-based two-wa
 y fluid-rigid coupling simulator to address these challenges. Our purpose 
 is to provide a differentiable simulator for SPH which incorporates a unif
 ied representation for both fluids and solids using particles. However, na
 ively differentiating the forward simulation of the particle system encoun
 ters gradient explosion issues. We investigate the instability in differen
 tiating the SPH-based fluid-rigid coupling simulator and present a feasibl
 e gradient computation scheme to address its differentiability. In additio
 n, we also propose an efficient method to compute the gradient of fluid-ri
 gid coupling without incurring the high computational cost of differentiat
 ing the entire high-DoF fluid system. We show the efficacy, scalability, a
 nd extensibility of our method in various challenging rigid body control t
 asks with diverse fluid-rigid interactions and multi-rigid contacts, achie
 ving up to an order of magnitude speedup in optimization compared to basel
 ine methods in experiments.\n\nRegistration Category: Full Access, Enhance
 d Access, Trade Exhibitor, Experience Hall Exhibitor\n\n
URL:https://asia.siggraph.org/2023/full-program?id=papers_214&sess=sess209
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