{"id":"https://openalex.org/W3140906301","doi":"https://doi.org/10.1109/lra.2021.3070305","title":"Underwater Soft Robot Modeling and Control With Differentiable Simulation","display_name":"Underwater Soft Robot Modeling and Control With Differentiable Simulation","publication_year":2021,"publication_date":"2021-03-31","ids":{"openalex":"https://openalex.org/W3140906301","doi":"https://doi.org/10.1109/lra.2021.3070305","mag":"3140906301"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3070305","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3070305","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09392257.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09392257.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102975242","display_name":"Tao Du","orcid":"https://orcid.org/0000-0001-7337-7667"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tao Du","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032508996","display_name":"Josie Hughes","orcid":"https://orcid.org/0000-0001-8410-3565"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Josie Hughes","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020349981","display_name":"Sebastien Wah","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastien Wah","raw_affiliation_strings":["MIT Department of Mechanical Engineering, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"MIT Department of Mechanical Engineering, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018010391","display_name":"Wojciech Matusik","orcid":"https://orcid.org/0000-0003-0212-5643"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wojciech Matusik","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102975242"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":11.1044,"has_fulltext":true,"cited_by_count":84,"citation_normalized_percentile":{"value":0.99185163,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"6","issue":"3","first_page":"4994","last_page":"5001"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11801","display_name":"Reservoir Engineering and Simulation Methods","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.6855770349502563},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6640392541885376},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6414543390274048},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6273695230484009},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5819598436355591},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5502517223358154},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5343384742736816},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4555453360080719},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4549131691455841},{"id":"https://openalex.org/keywords/starfish","display_name":"Starfish","score":0.43970787525177},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4337006211280823},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2955392003059387},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24983882904052734},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20086827874183655},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11476567387580872},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09852942824363708},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07911986112594604}],"concepts":[{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.6855770349502563},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6640392541885376},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6414543390274048},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6273695230484009},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5819598436355591},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5502517223358154},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5343384742736816},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4555453360080719},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4549131691455841},{"id":"https://openalex.org/C2778175403","wikidata":"https://www.wikidata.org/wiki/Q25349","display_name":"Starfish","level":2,"score":0.43970787525177},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4337006211280823},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2955392003059387},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24983882904052734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20086827874183655},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11476567387580872},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09852942824363708},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07911986112594604},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2021.3070305","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3070305","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09392257.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/143797","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/143797","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE","raw_type":"http://purl.org/eprint/type/JournalArticle"},{"id":"pmh:oai:infoscience.epfl.ch:295781","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/189877","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"research article"}],"best_oa_location":{"id":"doi:10.1109/lra.2021.3070305","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3070305","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09392257.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7799999713897705}],"awards":[{"id":"https://openalex.org/G3306699550","display_name":null,"funder_award_id":"EFRI-1830901","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3684603985","display_name":null,"funder_award_id":"1830901","funder_id":"https://openalex.org/F4320337395","funder_display_name":"Division of Emerging Frontiers in Research and Innovation"},{"id":"https://openalex.org/G4713059963","display_name":null,"funder_award_id":"FA8750","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G4793398307","display_name":null,"funder_award_id":"FA8750-20-C-0075","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G5604139910","display_name":null,"funder_award_id":"2019-1902010000","funder_id":"https://openalex.org/F4320333051","funder_display_name":"Intelligence Advanced Research Projects Activity"},{"id":"https://openalex.org/G7845555003","display_name":null,"funder_award_id":"EFRI-1830901","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G8583225090","display_name":null,"funder_award_id":"1830901","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G97508571","display_name":null,"funder_award_id":"2019-19020100001","funder_id":"https://openalex.org/F4320333051","funder_display_name":"Intelligence Advanced Research Projects Activity"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320333051","display_name":"Intelligence Advanced Research Projects Activity","ror":"https://ror.org/01v3fsc55"},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"},{"id":"https://openalex.org/F4320337395","display_name":"Division of Emerging Frontiers in Research and Innovation","ror":"https://ror.org/0388pet74"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3140906301.pdf","grobid_xml":"https://content.openalex.org/works/W3140906301.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1520597402","https://openalex.org/W1956244631","https://openalex.org/W1971356227","https://openalex.org/W1989902894","https://openalex.org/W2031303964","https://openalex.org/W2039297272","https://openalex.org/W2048456511","https://openalex.org/W2103161147","https://openalex.org/W2120442417","https://openalex.org/W2156410578","https://openalex.org/W2277748054","https://openalex.org/W2605102758","https://openalex.org/W2605221221","https://openalex.org/W2622106568","https://openalex.org/W2767050701","https://openalex.org/W2793128170","https://openalex.org/W2810473562","https://openalex.org/W2908579898","https://openalex.org/W2956200748","https://openalex.org/W2966651785","https://openalex.org/W2968042644","https://openalex.org/W2968116426","https://openalex.org/W2988458564","https://openalex.org/W2988986133","https://openalex.org/W2995253198","https://openalex.org/W3014323852","https://openalex.org/W3034637066","https://openalex.org/W3036541334","https://openalex.org/W3095587313","https://openalex.org/W3101442004","https://openalex.org/W3107866939","https://openalex.org/W3125654258","https://openalex.org/W6769017845","https://openalex.org/W6784795360","https://openalex.org/W6789951831"],"related_works":["https://openalex.org/W2794134248","https://openalex.org/W2007213662","https://openalex.org/W4250314385","https://openalex.org/W61055423","https://openalex.org/W2832293793","https://openalex.org/W2604191258","https://openalex.org/W2194293509","https://openalex.org/W2015862096","https://openalex.org/W2950637276","https://openalex.org/W2951316374"],"abstract_inverted_index":{"Underwater":[0],"soft":[1,54,64],"robots":[2],"are":[3],"challenging":[4],"to":[5,44,60,70,74,102,120,124],"model":[6,43],"and":[7,16,49,72,86,90,106,109],"control":[8,50],"because":[9],"of":[10,14,51,137,155],"their":[11,17],"high":[12],"degrees":[13],"freedom":[15],"intricate":[18],"coupling":[19],"with":[20,38,46,79],"water.":[21],"In":[22],"this":[23,58],"letter,":[24],"we":[25],"present":[26],"a":[27,39,62,99,140],"method":[28,59,77],"that":[29,67,134],"leverages":[30],"the":[31,47,83,93,110,114,118,153],"recent":[32],"development":[33],"in":[34,159],"differentiable":[35,100,141],"simulation":[36,89,94],"coupled":[37],"differentiable,":[40],"analytical":[41],"hydrodynamic":[42],"assist":[45],"modeling":[48],"an":[52,156],"underwater":[53],"robot.":[55],"We":[56],"apply":[57],"Starfish,":[61],"customized":[63],"robot":[65,85,119],"design":[66],"is":[68],"easy":[69],"fabricate":[71],"intuitive":[73],"manipulate.":[75],"Our":[76,129],"starts":[78],"data":[80,123],"obtained":[81],"from":[82,98,139],"real":[84,160],"alternates":[87],"between":[88],"experiments.":[91,161],"Specifically,":[92],"step":[95,112],"uses":[96],"gradients":[97,138],"simulator":[101,142],"run":[103],"system":[104],"identification":[105],"trajectory":[107,116],"optimization,":[108],"experiment":[111],"executes":[113],"optimized":[115],"on":[117,131],"collect":[121],"new":[122],"be":[125],"fed":[126],"into":[127],"simulation.":[128],"demonstration":[130],"Starfish":[132],"shows":[133],"proper":[135],"usage":[136],"not":[143],"only":[144],"narrows":[145],"down":[146],"its":[147],"simulation-to-reality":[148],"gap":[149],"but":[150],"also":[151],"improves":[152],"performance":[154],"open-loop":[157],"controller":[158]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":26},{"year":2021,"cited_by_count":4}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
