Simple Robotics: to come soon...
Meanwhile, you can still follow us on
GitHub
,
YouTube
, or read some cool papers from the Simple Robotics team:
Efficient and Versatile QP Solver for Real-Time Roboticsc (IEEE T-RO 2025).
Differentiable QP Solver.
Differentiable Simulator for Soft Robotics.
Contact solver of the Simple simulator.
Gradients of the Simple simulator.
Parallelized constrained Riccati solver for real-time nonlinear MPC.
Low complexity differential inverse kinematics solver.
Analysis of contact models in robotics.
About limitations and extensions of RaiSim simulator.
Constrained Articulated Body Algorithms (IEEE T-RO 2024)
A data-driven contact estimation method for wheeled-biped robots.
Optimal complexity OSIM/Delassus algorithm. (IEEE RA-L 2024)
Constrained Articulated Body Algorithm for Closed Loop Mechanisms.
GJK++: Leveraging Acceleration Methods for Faster Collision Detection. (IEEE T-RO 2024)
Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control.
Reconciling RaiSim with the Maximum Dissipation Principle. (IEEE T-RO 2024)
ProxDDP: Proximal Constrained Trajectory Optimization. (IEEE T-RO 2025)