Rethinking Optimization with Differentiable Simulation
from a Global Perspective
Differentiable simulation is a promising toolkit for fast gradient-based policy optimization and system identification. In this work, we study the challenges that differentiable simulation presents when it is not feasible to expect that a single descent reaches a global optimum. We analyze the optimization landscapes of diverse scenarios and find that in dynamic environments with highly deformable objects and fluids, differentiable simulators produce rugged landscapes with useful gradients. We propose a method that combines Bayesian optimization with semi-local leaps to obtain a global search method that can use gradients effectively and maintain robust performance in regions with noisy gradients. We show extensive experiments in simulation, and also validate the method in a real robot setup.