Physically Embodied Deep Image Optimisation. (arXiv:2201.08142v1 [cs.RO])

Physical sketches are created by learning programs to control a drawing
robot. A differentiable rasteriser is used to optimise sets of drawing strokes
to match an input image, using deep networks to provide an encoding for which
we can compute a loss. The optimised drawing primitives can then be translated
into G-code commands which command a robot to draw the image using drawing
instruments such as pens and pencils on a physical support medium.

arxiv