论文标题

通过随机平滑增强可微分物理

Augmenting differentiable physics with randomized smoothing

论文作者

Lidec, Quentin Le, Montaut, Louis, Schmid, Cordelia, Laptev, Ivan, Carpentier, Justin

论文摘要

在过去的几年中,按照可区分的编程范式,人们对计算物理过程的梯度信息(例如,物理模拟,图像渲染)的梯度越来越兴趣。但是,此类过程可能是非差异的,也可能产生非信息性梯度(I.D.几乎无处不在)。当面对以前的陷阱时,通过分析表达或数值技术(例如自动分化和有限差异)估算的梯度使经典优化方案融合到质量差的解决方案方面。因此,仅依靠这些梯度提供的本地信息通常不足以解决涉及此类物理过程的高级优化问题,尤其是当它们受到非平滑度和非固定性问题的约束时。我们的实验表明,在优化算法内部整合这种方法可能会富有成果,就像来自图像的网格重建或对机器人系统的最佳控制一样,可能会发生接触和摩擦问题。

In the past few years, following the differentiable programming paradigm, there has been a growing interest in computing the gradient information of physical processes (e.g., physical simulation, image rendering). However, such processes may be non-differentiable or yield uninformative gradients (i.d., null almost everywhere). When faced with the former pitfalls, gradients estimated via analytical expression or numerical techniques such as automatic differentiation and finite differences, make classical optimization schemes converge towards poor quality solutions. Thus, relying only on the local information provided by these gradients is often not sufficient to solve advanced optimization problems involving such physical processes, notably when they are subject to non-smoothness and non-convexity issues.In this work, inspired by the field of zero-th order optimization, we leverage randomized smoothing to augment differentiable physics by estimating gradients in a neighborhood. Our experiments suggest that integrating this approach inside optimization algorithms may be fruitful for tasks as varied as mesh reconstruction from images or optimal control of robotic systems subject to contact and friction issues.

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