Preprint
Sep 2026
Bundled Contact Gradients: Stabilizing Differentiable Simulation for Deployable Dynamic Tasks
Differentiable simulation provides analytic gradients of robot dynamics, enabling fast and sample-efficient first-order policy optimization. However, obtaining smooth and informative gradients through rigid-body contact typically requires softened contact models, often at the expense of physical fidelity and thereby li...
Dyuman Aditya, Jin Cheng, Clemens Schwarke et al.
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