Brax -- A Differentiable Physics Engine for Large Scale Rigid Body Simulation

24 June 2021

Sertan Girgin

Olivier Bachem

Papers citing "Brax -- A Differentiable Physics Engine for Large Scale Rigid Body Simulation"

50 / 270 papers shown

Title
Benchmarking Quality-Diversity Algorithms on Neuroevolution for Reinforcement Learning Manon Flageat Bryan Lim Luca Grillotti Maxime Allard Simón C. Smith Antoine Cully 16 14 0 04 Nov 2022
Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces Xinghao Zhu Wenzhao Lian Bodi Yuan C. Freeman M. Tomizuka 37 5 0 31 Oct 2022
Characterising the Robustness of Reinforcement Learning for Continuous Control using Disturbance Injection Catherine R. Glossop Jacopo Panerati A. Krishnan Zhaocong Yuan Angela P. Schoellig 22 6 0 27 Oct 2022
DaXBench: Benchmarking Deformable Object Manipulation with Differentiable Physics Siwei Chen Yiqing Xu Cunjun Yu Linfeng Li Xiao Ma Zhongwen Xu David Hsu AI4CE 23 16 0 24 Oct 2022
NeuPhysics: Editable Neural Geometry and Physics from Monocular Videos Yi-Ling Qiao Alexander Gao Ming-Chyuan Lin 3DH 82 38 0 22 Oct 2022
Differentiable Physics Simulation of Dynamics-Augmented Neural Objects Simon Le Cleac'h Hong-Xing Yu Michelle Guo Taylor A. Howell Ruohan Gao Jiajun Wu Zachary Manchester Mac Schwager AI4CE 30 39 0 17 Oct 2022
PDEBENCH: An Extensive Benchmark for Scientific Machine Learning M. Takamoto T. Praditia Raphael Leiteritz Dan MacKinlay Francesco Alesiani Dirk Pflüger Mathias Niepert AI4CE 30 209 0 13 Oct 2022
Discovered Policy Optimisation Chris Xiaoxuan Lu J. Kuba Alistair Letcher Luke Metz Christian Schroeder de Witt Jakob N. Foerster OffRL 39 75 0 11 Oct 2022
VER: Scaling On-Policy RL Leads to the Emergence of Navigation in Embodied Rearrangement Erik Wijmans Irfan Essa Dhruv Batra OffRL 36 13 0 11 Oct 2022
Rieoptax: Riemannian Optimization in JAX Saiteja Utpala Andi Han Pratik Jawanpuria Bamdev Mishra 21 3 0 10 Oct 2022
Neuroevolution is a Competitive Alternative to Reinforcement Learning for Skill Discovery Félix Chalumeau Raphael Boige Bryan Lim Valentin Macé Maxime Allard Arthur Flajolet Antoine Cully Thomas Pierrot 26 21 0 06 Oct 2022
MSRL: Distributed Reinforcement Learning with Dataflow Fragments Huanzhou Zhu Bo Zhao Gang Chen Weifeng Chen Yijie Chen Liang Shi Yaodong Yang Peter R. Pietzuch Lei Chen OffRL MoE 16 6 0 03 Oct 2022
SoftTreeMax: Policy Gradient with Tree Search Gal Dalal Assaf Hallak Shie Mannor Gal Chechik 21 1 0 28 Sep 2022
Training Efficient Controllers via Analytic Policy Gradient Nina Wiedemann Valentin Wüest Antonio Loquercio M. Müller Dario Floreano Davide Scaramuzza OffRL 21 18 0 26 Sep 2022
Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands Dylan Turpin Liquang Wang Eric Heiden Yun-Chun Chen Miles Macklin Stavros Tsogkas Sven J. Dickinson Animesh Garg 18 67 0 25 Aug 2022
RobotIO: A Python Library for Robot Manipulation Experiments Lukás Hermann Max Argus Adrian Roefer Abhinav Valada Thomas Brox 38 1 0 27 Jul 2022
Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation Joanne Truong M. Rudolph Naoki Yokoyama Sonia Chernova Dhruv Batra Akshara Rai 29 40 0 21 Jul 2022
Bayesian Generational Population-Based Training Xingchen Wan Cong Lu Jack Parker-Holder Philip J. Ball Vu-Linh Nguyen Binxin Ru Michael A. Osborne OffRL 31 15 0 19 Jul 2022
Optimizing Data Collection in Deep Reinforcement Learning James Gleeson Daniel Snider Yvonne Yang Moshe Gabel Eyal de Lara Gennady Pekhimenko 15 1 0 15 Jul 2022
Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning Baichuan Huang Abdeslam Boularias Jingjin Yu 12 9 0 14 Jul 2022
The Free Energy Principle for Perception and Action: A Deep Learning Perspective Pietro Mazzaglia Tim Verbelen Ozan Çatal Bart Dhoedt DRL AI4CE 30 31 0 13 Jul 2022
Differentiable Physics Simulations with Contacts: Do They Have Correct Gradients w.r.t. Position, Velocity and Control? Yaofeng Desmond Zhong Jiequn Han Georgia Olympia Brikis 56 19 0 08 Jul 2022
VMAS: A Vectorized Multi-Agent Simulator for Collective Robot Learning Matteo Bettini Ryan Kortvelesy J. Blumenkamp Amanda Prorok 18 36 0 07 Jul 2022
Distributed Influence-Augmented Local Simulators for Parallel MARL in Large Networked Systems Miguel Suau Jinke He Mustafa Mert cCelikok M. Spaan F. Oliehoek 19 1 0 01 Jul 2022
Rethinking Optimization with Differentiable Simulation from a Global Perspective Rika Antonova Jingyun Yang Krishna Murthy Jatavallabhula Jeannette Bohg 81 32 0 28 Jun 2022
EnvPool: A Highly Parallel Reinforcement Learning Environment Execution Engine Jiayi Weng Min-Bin Lin Shengyi Huang Bo Liu Denys Makoviichuk ... Yufan Song Ting Luo Yukun Jiang Zhongwen Xu Shuicheng Yan MoE 16 59 0 21 Jun 2022
Fast Population-Based Reinforcement Learning on a Single Machine Arthur Flajolet Claire Bizon Monroc Karim Beguir Thomas Pierrot OffRL 22 10 0 17 Jun 2022
Relative Policy-Transition Optimization for Fast Policy Transfer Jiawei Xu Cheng Zhou Yizheng Zhang Zhengyou Zhang Lei Han 21 0 0 13 Jun 2022
Imitation Learning via Differentiable Physics Siwei Chen Xiao Ma Zhongwen Xu PINN AI4CE 24 4 0 10 Jun 2022
Differentiable Dynamics for Articulated 3d Human Motion Reconstruction Erik Gartner Mykhaylo Andriluka Erwin Coumans C. Sminchisescu 3DH 46 39 0 24 May 2022
RobotCore: An Open Architecture for Hardware Acceleration in ROS 2 Víctor Mayoral-Vilches Sabrina M. Neuman Brian Plancher Vijay Janapa Reddi 35 18 0 08 May 2022
Accelerated Policy Learning with Parallel Differentiable Simulation Jie Xu Viktor Makoviychuk Yashraj S. Narang Fabio Ramos Wojciech Matusik Animesh Garg Miles Macklin 16 85 0 14 Apr 2022
Evolving Pareto-Optimal Actor-Critic Algorithms for Generalizability and Stability Juan Jose Garau-Luis Yingjie Miao John D. Co-Reyes Aaron T Parisi Jie Tan Esteban Real Aleksandra Faust 29 0 0 08 Apr 2022
Parameterized Differential Dynamic Programming Alex Oshin Matthew D. Houghton Michael J. Acheson I. Gregory Evangelos A. Theodorou 18 10 0 07 Apr 2022
Revisiting Model-based Value Expansion Daniel Palenicek M. Lutter Jan Peters 17 2 0 28 Mar 2022
Blocks Assemble! Learning to Assemble with Large-Scale Structured Reinforcement Learning Seyed Kamyar Seyed Ghasemipour Daniel Freeman Byron David S. Gu Satoshi Kataoka Igor Mordatch OffRL 27 25 0 15 Mar 2022
Leveraging Reward Gradients For Reinforcement Learning in Differentiable Physics Simulations Sean Gillen Katie Byl AI4CE 23 3 0 06 Mar 2022
Dojo: A Differentiable Physics Engine for Robotics Taylor A. Howell Simon Le Cleac'h Jan Brüdigam J. Zico Kolter Mac Schwager Zachary Manchester 21 34 0 02 Mar 2022
Differentiable and Learnable Robot Models Franziska Meier Austin S. Wang Giovanni Sutanto Yixin Lin Paarth Shah PINN AI4CE 41 7 0 22 Feb 2022
Open-Ended Reinforcement Learning with Neural Reward Functions Robert Meier Asier Mujika 37 7 0 16 Feb 2022
Policy Learning and Evaluation with Randomized Quasi-Monte Carlo Sébastien M. R. Arnold P. LÉcuyer Liyu Chen Yi-fan Chen Fei Sha OffRL 29 4 0 16 Feb 2022
AD-NEGF: An End-to-End Differentiable Quantum Transport Simulator for Sensitivity Analysis and Inverse Problems Ying Zhou Xiang Chen Peng Zhang Jun Wang Lei Wang Hongfeng Guo 26 1 0 10 Feb 2022
EvoJAX: Hardware-Accelerated Neuroevolution Yujin Tang Yingtao Tian David R Ha 38 42 0 10 Feb 2022
Contextualize Me -- The Case for Context in Reinforcement Learning C. Benjamins Theresa Eimer Frederik Schubert Aditya Mohan Sebastian Dohler André Biedenkapp Bodo Rosenhahn Frank Hutter Marius Lindauer OffRL 27 29 0 09 Feb 2022
Multi-Objective Quality Diversity Optimization Thomas Pierrot Guillaume Richard Karim Beguir Antoine Cully 20 25 0 07 Feb 2022
Accelerated Quality-Diversity through Massive Parallelism Bryan Lim Maxime Allard Luca Grillotti Antoine Cully 21 16 0 02 Feb 2022
Do Differentiable Simulators Give Better Policy Gradients? H. Suh Max Simchowitz Kaipeng Zhang Russ Tedrake 30 95 0 02 Feb 2022
Physical Design using Differentiable Learned Simulators Kelsey R. Allen Tatiana López-Guevara Kimberly L. Stachenfeld Alvaro Sanchez-Gonzalez Peter W. Battaglia Jessica B. Hamrick Tobias Pfaff AI4CE 19 42 0 01 Feb 2022
Large-Dimensional Multibody Dynamics Simulation Using Contact Nodalization and Diagonalization Jeongmin Lee Minji Lee Dongjun Lee AI4CE 22 4 0 23 Jan 2022
Automated Reinforcement Learning (AutoRL): A Survey and Open Problems Jack Parker-Holder Raghunandan Rajan Xingyou Song André Biedenkapp Yingjie Miao ... Vu-Linh Nguyen Roberto Calandra Aleksandra Faust Frank Hutter Marius Lindauer AI4CE 33 100 0 11 Jan 2022