Efficient Differentiable Simulation of Articulated Bodies

              Yi-Ling Qiao * 1 2 Junbang Liang * 1 Vladlen Koltun 2 Ming C. Lin 1

              Abstract               2019). However, they do not have access to analytic deriva-
                                 tives of the articulated dynamics. Therefore, nearly all
    We present a method for efficient differentiable     gradient-based approaches have to design strategies to com-
    simulation of articulated bodies. This enables in- ...