fabiodr
Follow
Articulated Physics
High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.
RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (…
The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
Provides the benchmark experiments for the paper "GRiD: GPU Accelerated Rigid Body Dynamics with Analytical Gradients"
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
A GPU accelerated library for computing rigid body dynamics with analytical gradients
A Python reference implementation of rigid body dynamics algorithms
[RSS 2021] An End-to-End Differentiable Framework for Contact-Aware Robot Design
RoboGrammar: Graph Grammar for Terrain-Optimized Robot Design (SIGGRAPH Asia 2020)
[ICLR 2022] Accelerated Policy Learning with Parallel Differentiable Simulation
REDMAX: Efficient & Flexible Approach for Articulated Dynamics
A optimized CUDA C++ code generation engine for rigid body dynamics algorithms and their analytical gradients.
Code supporting the RAL paper "Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA"
Model-based design and verification for robotics.
Differentiable Simulation of Soft Multi-body Systems (NeurIPS 2021)
Coupled simulation of FEM continuum media and articulated rigid bodies
Improved version of real-time physics engine that couples FEM-based deformables and rigid body dynamics
Code repository for Master's Thesis: "Performance of Physics-Driven Procedural Animation of Character Locomotion For Bipedal and Quadrupedal Gait"
Real-time behaviour synthesis with MuJoCo, using Predictive Control
GPU simulation of multiple bodies using position based dynamics
Libraries for OpenSimAD - OpenSim with support for Algorithmic Differentiation
Repo of optimized training recipes for accelerating PyTorch workflows of AI driven surrogates for physical systems
Open-source deep-learning framework for building, training, and fine-tuning deep learning models using state-of-the-art Physics-ML methods
Code to accompany "A Method for Animating Children's Drawings of the Human Figure"