Cover Image

Batched Differentiable Rigid Body Dynamics in PyTorch for GPU-Accelerated Robot Learning

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Wang, Yue, Xu, Yanran, Wu, Wenbo, Qiu, Chuanhang, Li, Zhaoxing
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

HMCF: A Human-in-the-loop Multi-Robot Collaboration Framework Based on Large Language Models
by: Li, Zhaoxing, et al.
Published: (2025)

Scalable GPU-Accelerated Euler Characteristic Curves: Optimization and Differentiable Learning for PyTorch
by: Saxena, Udit
Published: (2025)

CTorch: PyTorch-Compatible GPU-Accelerated Auto-Differentiable Projector Toolbox for Computed Tomography
by: Jiang, Xiao, et al.
Published: (2025)

SoftDTW-CUDA-Torch: Memory-Efficient GPU-Accelerated Soft Dynamic Time Warping for PyTorch
by: Weber, Ron Shapira, et al.
Published: (2026)

PyPOD-GP: Using PyTorch for Accelerated Chip-Level Thermal Simulation of the GPU
by: He, Neil, et al.
Published: (2024)

TorchFX: A modern approach to Audio DSP with PyTorch and GPU acceleration
by: Spanio, Matteo, et al.
Published: (2025)

Quattro: Transformer-Accelerated Iterative Linear Quadratic Regulator Framework for Fast Trajectory Optimization
by: Wang, Yue, et al.
Published: (2025)

DMFF in PyTorch backend
by: Zhu, Jia-Xin, et al.
Published: (2026)

ADMP in PyTorch backend
by: Zhu, Jia-Xin, et al.
Published: (2026)

Lowering PyTorch's Memory Consumption for Selective Differentiation
by: Bhatia, Samarth, et al.
Published: (2024)

Flashlight: PyTorch Compiler Extensions to Accelerate Attention Variants
by: You, Bozhi, et al.
Published: (2025)

A Convex Formulation of Material Points and Rigid Bodies with GPU-Accelerated Async-Coupling for Interactive Simulation
by: Yu, Chang, et al.
Published: (2025)

PyLO: Towards Accessible Learned Optimizers in PyTorch
by: Janson, Paul, et al.
Published: (2025)

Fully Differentiable dMRI Streamline Propagation in PyTorch
by: Yoon, Jongyeon, et al.
Published: (2025)

Humanoid Robot Acrobatics Utilizing Complete Articulated Rigid Body Dynamics
by: Brantner, Gerald
Published: (2025)

TorchSim: An efficient atomistic simulation engine in PyTorch
by: Cohen, Orion, et al.
Published: (2025)

Demystifying the Silence of Correctness Bugs in PyTorch Compiler
by: Li, Meiziniu, et al.
Published: (2026)

mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning
by: Zakka, Kevin, et al.
Published: (2026)

TorchAO: PyTorch-Native Training-to-Serving Model Optimization
by: Or, Andrew, et al.
Published: (2025)

RoboGPU: Accelerating GPU Collision Detection for Robotics
by: Liu, Lufei, et al.
Published: (2026)

Learning Bug Context for PyTorch-to-JAX Translation with LLMs
by: Phan, Hung, et al.
Published: (2025)

PiShield: A PyTorch Package for Learning with Requirements
by: Stoian, Mihaela Cătălina, et al.
Published: (2024)

From PyTorch to Calyx: An Open-Source Compiler Toolchain for ML Accelerators
by: Xie, Jiahan, et al.
Published: (2025)

HJCD-IK: GPU-Accelerated Inverse Kinematics through Batched Hybrid Jacobian Coordinate Descent
by: Yasutake, Cael, et al.
Published: (2025)

DiffAero: A GPU-Accelerated Differentiable Simulation Framework for Efficient Quadrotor Policy Learning
by: Zhang, Xinhong, et al.
Published: (2025)

NewsTorch: A PyTorch-based Toolkit for Learner-oriented News Recommendation
by: Wang, Rongyao, et al.
Published: (2026)

PyGraph: Robust Compiler Support for CUDA Graphs in PyTorch
by: Ghosh, Abhishek, et al.
Published: (2025)

Venom: A PyTorch Generative Modeling Toolkit
by: Yan, Liang
Published: (2026)

torchtune: PyTorch native post-training library
by: Obozov, Mark, et al.
Published: (2026)

LTNtorch: PyTorch Implementation of Logic Tensor Networks
by: Carraro, Tommaso, et al.
Published: (2024)

torchgfn: A PyTorch GFlowNet library
by: Viviano, Joseph D., et al.
Published: (2023)

Torch Geometric Pool: the PyTorch library for pooling in Graph Neural Networks
by: Abate, Carlo, et al.
Published: (2025)

Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots
by: Amatucci, Lorenzo, et al.
Published: (2025)

GATO: GPU-Accelerated and Batched Trajectory Optimization for Scalable Edge Model Predictive Control
by: Du, Alexander, et al.
Published: (2025)

Self-Supervised Learning of Visual Servoing for Low-Rigidity Robots Considering Temporal Body Changes
by: Kawaharazuka, Kento, et al.
Published: (2024)

ExecuTorch -- A Unified PyTorch Solution to Run AI Models On-Device
by: Nachin, Mergen, et al.
Published: (2026)

GPU-Accelerated Optimization-Based Collision Avoidance
by: Wu, Zeming, et al.
Published: (2024)

Ep. 170: The Heavy Metal of Machine Learning: Inside PyTorch
by: Rosehill, Daniel, et al.
Published: (2026)

Lie-algebra Adaptive Tracking Control for Rigid Body Dynamics
by: Tang, Jiawei, et al.
Published: (2025)

Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation
by: Abderezaei, Ava, et al.
Published: (2026)