CRISP: Contact-Rich Robotic Simulation Platform with Extensive Geometries and Contact Solvers

arXiv:2609.21761 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Code: https://github.com/INRoL/crisp1

Project page: https://inrol.github.io/crisp

Terminology

• Accuracy — 14× in this paper · explained in 1 episode
• Fidelity — 14× in this paper · explained in 2 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Riemannian optimization — 2× in this paper · explained in 2 episodes
• Verification — 2× in this paper · explained in 2 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Convergence Guarantees — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Local Optimization — 1× in this paper · explained in 2 episodes
• System Identification — 1× in this paper · explained in 3 episodes

Sources

• Dojo: A Differentiable Physics Engine for Robotics
• Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
• Cosmos World Foundation Model Platform for Physical AI
• Fast and Accurate Data-Driven Simulation Framework for Contact-Intensive Tight-Tolerance Robotic Assembly Tasks

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