Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact-Reference-Cited by-同舟云学术

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Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact

Published:2024-05-13 Issue: Volume:32 Page:16915-16922
ISSN:
Container-title:2024 IEEE International Conference on Robotics and Automation (ICRA)
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Author:

Yang Gang¹,Luo Siyuan²,Feng Yunhai³,Sun Zhixin⁴,Tie Chenrui¹,Shao Lin¹

Affiliation:

1. National University of Singapore,Department of Computer Science,Singapore

2. Xi’an Jiaotong University,Department of Computer Science and Technology,China

3. University of California,Department of Computer Science and Engineering,San Diego,USA

4. Nanjing University,Department of Computer Science and Technology,China

Publisher

IEEE

Link

http://xplorestaging.ieee.org/ielx8/10609961/10609862/10610750.pdf?arnumber=10610750

Reference48 articles.

1. Pytorch: An imperative style, high-performance deep learning library;Paszke;Advances in neural information processing systems,2019

2. Theano: A python framework for fast computation of mathematical expressions;Team,2016

3. Taichi

4. Cppad: a package for c++ algorithmic differentiation;Bell,2020

5. JAX: composable transformations of Python+NumPy programs;Bradbury,2018

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