Fast and Feature-Complete Differentiable Physics Engine for Articulated Rigid Bodies with Contact Constraints

@INPROCEEDINGS{Werling-RSS-21, 
    AUTHOR    = {Keenon Werling AND Dalton Omens AND Jeongseok Lee AND Ioannis Exarchos AND C. Karen Liu}, 
    TITLE     = {{Fast and Feature-Complete Differentiable Physics Engine for Articulated Rigid Bodies with Contact Constraints}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2021}, 
    ADDRESS   = {Virtual}, 
    MONTH     = {July}, 
    DOI       = {10.15607/RSS.2021.XVII.034} 
}