{"id":"https://openalex.org/W7140481102","doi":"https://doi.org/10.1109/lra.2026.3678125","title":"Contact-Aware Morphology Optimization via Physically Consistent Differentiable Simulation","display_name":"Contact-Aware Morphology Optimization via Physically Consistent Differentiable Simulation","publication_year":2026,"publication_date":"2026-03-26","ids":{"openalex":"https://openalex.org/W7140481102","doi":"https://doi.org/10.1109/lra.2026.3678125"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3678125","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3678125","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":null,"license_id":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130638523","display_name":"Filippo Luca Ferretti","orcid":null},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Filippo Luca Ferretti","raw_affiliation_strings":["Generative Bionics, Genoa, Italy"],"raw_orcid":"https://orcid.org/0009-0000-5184-7445","affiliations":[{"raw_affiliation_string":"Generative Bionics, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060199324","display_name":"Diego Ferigo","orcid":"https://orcid.org/0000-0002-0808-9754"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Diego Ferigo","raw_affiliation_strings":["Robotics and AI Institute, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-0808-9754","affiliations":[{"raw_affiliation_string":"Robotics and AI Institute, Zurich, Switzerland","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014218194","display_name":"Alessandro Croci","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210137243","display_name":"Neurotune (Switzerland)","ror":"https://ror.org/03c3qzd14","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210137243"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Alessandro Croci","raw_affiliation_strings":["NEURA Robotics, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0009-0005-3409-1734","affiliations":[{"raw_affiliation_string":"NEURA Robotics, Zurich, Switzerland","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I4210137243"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055707799","display_name":"Carlotta Sartore","orcid":"https://orcid.org/0000-0003-1759-0089"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Carlotta Sartore","raw_affiliation_strings":["Generative Bionics, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1759-0089","affiliations":[{"raw_affiliation_string":"Generative Bionics, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130681877","display_name":"Omar G. Younis","orcid":null},"institutions":[{"id":"https://openalex.org/I4210164802","display_name":"Mila - Quebec Artificial Intelligence Institute","ror":"https://ror.org/05c22rx21","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210164802"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Omar G. Younis","raw_affiliation_strings":["Quebec AI Institute, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0009-0004-2783-7932","affiliations":[{"raw_affiliation_string":"Quebec AI Institute, Montreal, QC, Canada","institution_ids":["https://openalex.org/I4210164802"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082517605","display_name":"Silvio Traversaro","orcid":"https://orcid.org/0000-0002-9283-6133"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Silvio Traversaro","raw_affiliation_strings":["Generative Bionics, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9283-6133","affiliations":[{"raw_affiliation_string":"Generative Bionics, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081455901","display_name":"Daniele Pucci","orcid":"https://orcid.org/0000-0002-7600-3203"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Pucci","raw_affiliation_strings":["Generative Bionics, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-7600-3203","affiliations":[{"raw_affiliation_string":"Generative Bionics, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26996691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"5","first_page":"6456","last_page":"6463"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.09120000153779984,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.09120000153779984,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.07850000262260437,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.07530000060796738,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.37450000643730164},{"id":"https://openalex.org/keywords/morphology","display_name":"Morphology (biology)","score":0.32919999957084656},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.2621000111103058},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.2619999945163727},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.2551000118255615}],"concepts":[{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4052000045776367},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.37450000643730164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35920000076293945},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3522000014781952},{"id":"https://openalex.org/C499950583","wikidata":"https://www.wikidata.org/wiki/Q183252","display_name":"Morphology (biology)","level":2,"score":0.32919999957084656},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2800000011920929},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2732999920845032},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2646999955177307},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2621000111103058},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2619999945163727},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.2551000118255615},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2522999942302704}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3678125","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3678125","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W2156499297","https://openalex.org/W2158782408","https://openalex.org/W2535684174","https://openalex.org/W2539678416","https://openalex.org/W2611179787","https://openalex.org/W2701942770","https://openalex.org/W2842089854","https://openalex.org/W2906487027","https://openalex.org/W2911114506","https://openalex.org/W3095490979","https://openalex.org/W3137208282","https://openalex.org/W3174011998","https://openalex.org/W3184862014","https://openalex.org/W4225639672","https://openalex.org/W4313562926","https://openalex.org/W4313598842","https://openalex.org/W4362736491","https://openalex.org/W4367016688","https://openalex.org/W4383108212","https://openalex.org/W4389665985","https://openalex.org/W4390480955","https://openalex.org/W4401415810","https://openalex.org/W4407533495"],"related_works":[],"abstract_inverted_index":{"Optimizing":[0],"robot":[1],"morphology":[2,37,100],"and":[3,15,18,26,48,66,77,89,135],"behavior":[4],"remains":[5],"an":[6],"open":[7],"challenge,":[8],"primarily":[9],"because":[10],"hardware":[11,56],"parameters":[12,120],"affect":[13],"system":[14,116],"contact":[16,41,49,71],"dynamics,":[17],"naive":[19],"parametrization":[20,59],"can":[21],"yield":[22],"physically":[23],"inconsistent":[24],"designs":[25,65],"unreliable":[27],"gradients.":[28],"We":[29,92],"propose":[30],"a":[31,81,98,103],"simulation-based":[32],"co-design":[33],"approach":[34,95],"for":[35,159],"gradient-based":[36,145],"optimization":[38,146],"through":[39,70],"intermittent":[40],"by":[42,96],"expressing":[43],"inertial":[44],"quantities,":[45],"collision":[46],"geometry,":[47],"forces":[50],"as":[51],"smooth":[52],"functions":[53],"of":[54],"bounded":[55],"parameters.":[57],"This":[58],"preserves":[60],"physical":[61],"consistency":[62],"across":[63],"admissible":[64],"enables":[67],"trajectory-level":[68],"differentiation":[69],"transitions.":[72],"The":[73],"methodology":[74],"is":[75,78,147],"simulator-agnostic":[76],"instantiated":[79],"in":[80],"JAX-based":[82],"differentiable":[83],"simulator":[84],"to":[85,101,121,142,153],"leverage":[86],"accelerator":[87],"execution":[88],"automatic":[90],"differentiation.":[91],"validate":[93],"the":[94],"optimizing":[97],"single-leg":[99],"reach":[102],"target":[104],"jump":[105],"height":[106],"under":[107],"torque":[108],"limits.":[109],"Controlled":[110],"studies":[111],"further":[112],"assess":[113],"correctness:":[114],"synthetic":[115],"identification":[117],"recovers":[118],"ground-truth":[119],"numerical":[122],"precision,":[123],"cross-engine":[124],"calibration":[125],"against":[126],"MuJoCo":[127],"reaches":[128],"MSE":[129],"below":[130],"<inline-formula":[131],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[132],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[133],"notation=\"LaTeX\">$10^{-5}$</tex-math></inline-formula>,":[134],"second-order":[136],"derivatives":[137],"match":[138],"finite":[139],"differences.":[140],"Compared":[141],"genetic":[143],"algorithms,":[144],"substantially":[148],"faster":[149],"but":[150],"more":[151],"sensitive":[152],"initialization,":[154],"while":[155],"remaining":[156],"computationally":[157],"practical":[158],"co-design.":[160]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-03-27T00:00:00"}
