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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2511.08771 |
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| _version_ | 1866918198112157696 |
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| author | Kurtz, Vince Castro, Alejandro |
| author_facet | Kurtz, Vince Castro, Alejandro |
| contents | State-of-the-art robotics simulators operate in discrete time. This requires users to choose a time step, which is both critical and challenging: large steps can produce non-physical artifacts, while small steps force the simulation to run slowly. Continuous-time error-controlled integration avoids such issues by automatically adjusting the time step to achieve a desired accuracy. But existing error-controlled integrators struggle with the stiff dynamics of contact, and cannot meet the speed and scalability requirements of modern robotics workflows. We introduce CENIC, a new continuous-time integrator that brings together recent advances in convex time-stepping and error-controlled integration, inheriting benefits from both continuous integration and discrete time-stepping. CENIC runs at fast real-time rates comparable to discrete-time robotics simulators like MuJoCo, Drake and Isaac Sim, while also providing guarantees on accuracy and convergence. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_08771 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | CENIC: Convex Error-controlled Numerical Integration for Contact Kurtz, Vince Castro, Alejandro Robotics Computational Engineering, Finance, and Science Computational Physics State-of-the-art robotics simulators operate in discrete time. This requires users to choose a time step, which is both critical and challenging: large steps can produce non-physical artifacts, while small steps force the simulation to run slowly. Continuous-time error-controlled integration avoids such issues by automatically adjusting the time step to achieve a desired accuracy. But existing error-controlled integrators struggle with the stiff dynamics of contact, and cannot meet the speed and scalability requirements of modern robotics workflows. We introduce CENIC, a new continuous-time integrator that brings together recent advances in convex time-stepping and error-controlled integration, inheriting benefits from both continuous integration and discrete time-stepping. CENIC runs at fast real-time rates comparable to discrete-time robotics simulators like MuJoCo, Drake and Isaac Sim, while also providing guarantees on accuracy and convergence. |
| title | CENIC: Convex Error-controlled Numerical Integration for Contact |
| topic | Robotics Computational Engineering, Finance, and Science Computational Physics |
| url | https://arxiv.org/abs/2511.08771 |