Highly-Efficient Differentiable Simulation for Robotics

arXiv:2409.07107 · cs.RO · Submitted 2024-09-11 · Read on arXiv

cs.RO

Submitted: 2024-09-11

Updated: 2026-09-21

Code: https://github.com/oogle/jax

Terminology

• Sparsity — 8× in this paper · explained in 4 episodes
• Core — 6× in this paper · explained in 2 episodes
• Reinforcement Learning — 6× in this paper · explained in 4 episodes
• Inverse Dynamics — 5× in this paper
• Benchmark — 4× in this paper · explained in 2 episodes
• Inverse Problem — 3× in this paper · explained in 2 episodes
• Sample Efficiency — 3× in this paper · explained in 4 episodes
• ACM Transactions on Graphics — 2× in this paper
• Action Space — 2× in this paper · explained in 1 episode
• Actor — 2× in this paper · explained in 3 episodes
• Reward Function — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Aperture — 1× in this paper · explained in 1 episode
• Articulated Body Algorithm — 1× in this paper
• Hybrid System — 1× in this paper · explained in 2 episodes
• Quadratic Programming (QP) — 1× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• System Identification — 1× in this paper · explained in 3 episodes

Sources

• Contact-Implicit Model Predictive Control: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories
• Differentiable Physics Simulations with Contacts: Do They Have Correct Gradients w.r.t. Position, Velocity and Control?

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