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

Gang Yang, Siyuan Luo, Yunhai Feng, Zhixin Sun, Chenrui Tie, Lin Shao 0002. Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact. In IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024. pages 16915-16922, IEEE, 2024. [doi]

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