BriefGPT.xyz
Mar, 2021
关节刚体接触快速完备可微物理引擎
Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact
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Keenon Werling, Dalton Omens, Jeongseok Lee, Ionnis Exarchos, C. Karen Liu
TL;DR
我们提出了一个快速而完整的可微物理引擎 Nimble,支持拉格朗日动力学和铰接刚体模拟的硬接触约束,并提出了优化下游任务的互补感知梯度的新方法。
Abstract
We present a fast and feature-complete
differentiable physics engine
that supports
lagrangian dynamics
and hard
contact constraints
for
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