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adding simple gradients
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‎index.html‎

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Meanwhile, you can still follow us on <a href="https://github.com/Simple-Robotics"> GitHub</a>, <a href="https://www.youtube.com/@SimpleRoboticsOrg"> YouTube</a>, or read some cool papers from the Simple Robotics team:
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<ul>
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<li><a href="publications/simple-contact-solver"> Contact solver of the Simple simulator.</a></li>
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<li><a href="publications/simple-gradients"> Gradients of the Simple simulator.</a></li>
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<li><a href="publications/parallel-clqr"> Parallelized constrained Riccati solver for real-time nonlinear MPC.</a></li>
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<li><a href="publications/loik-solver"> Low complexity differential inverse kinematics solver.</a></li>
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<li><a href="https://arxiv.org/abs/2304.06372"> Analysis of contact models in robotics.</a></li>

‎publications/simple-gradients/README.md‎

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# Simple gradients
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This is the repository that contains source code for the paper [End-to-End and Highly-Efficient Differentiable Simulation for Robotics](https://simple-robotics.github.io/publications/simple-gradients/index.html).
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If you find [Simple](https://github.com/Simple-Robotics/Simple) to be useful for your work please cite:
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```
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@article{simplecontacts2024,
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author = {Carpentier, Justin and Le Lidec, Quentin and Montaut, Louis},
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title = {From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach.},
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journal = {Robotics: Science and Systems},
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year = {2024},
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}
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```
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or, for the gradients
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```
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@article{simplecontacts2024,
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author = {Le Lidec, Quentin and Montaut, Louis and De Mont-Marin Yann and Carpentier, Justin },
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title = {End-to-End and Highly-Efficient Differentiable Simulation for Robotics},
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journal = {preprint},
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year = {2024},
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}
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```
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‎publications/simple-gradients/index.html‎

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<!DOCTYPE html>
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<html>
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<head>
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<meta charset="utf-8">
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<meta name="description"
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content="Contact solver of Simple simulator">
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<meta name="keywords" content="Simple, Contact, Contact Solver, Physics Simulation">
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>Simple Gradients</title>
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<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
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rel="stylesheet">
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<link rel="stylesheet" href="./static/css/bulma.min.css">
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<link rel="stylesheet" href="./static/css/bulma-carousel.min.css">
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<link rel="stylesheet" href="./static/css/bulma-slider.min.css">
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<link rel="stylesheet" href="./static/css/fontawesome.all.min.css">
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<link rel="stylesheet"
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href="https://cdn.jsdelivr.net/gh/jpswalsh/academicons@1/css/academicons.min.css">
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<link rel="stylesheet" href="./static/css/index.css">
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<link rel="icon" href="./static/images/favicon.svg">
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<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.5.1/jquery.min.js"></script>
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<script defer src="./static/js/fontawesome.all.min.js"></script>
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<script src="./static/js/bulma-carousel.min.js"></script>
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<script src="./static/js/bulma-slider.min.js"></script>
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<script src="./static/js/index.js"></script>
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</head>
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<body>
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<nav class="navbar" role="navigation" aria-label="main navigation">
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<div class="navbar-brand">
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<a role="button" class="navbar-burger" aria-label="menu" aria-expanded="false">
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<span aria-hidden="true"></span>
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<span aria-hidden="true"></span>
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<span aria-hidden="true"></span>
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</a>
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</div>
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<div class="navbar-menu">
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<div class="navbar-start" style="flex-grow: 1; justify-content: center;">
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<a class="navbar-item" href="https://simple-robotics.github.io">
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<span class="icon">
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<i class="fas fa-home"></i>
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</span>
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</a>
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<div class="navbar-item has-dropdown is-hoverable">
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<a class="navbar-link">
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More Research
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</a>
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<div class="navbar-dropdown">
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<a class="navbar-item" href="https://arxiv.org/abs/2304.06372">
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Contact Models
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</a>
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<a class="navbar-item" href="https://arxiv.org/abs/2405.17020">
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Contact Simulation
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</a>
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<a class="navbar-item" href="https://quentinll.github.io/projects/diffsim/">
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Differentiable Simulation
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</a>
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<a class="navbar-item" href="https://ieeexplore.ieee.org/document/10494919">
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GJK++: accelerated collision detection
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</a>
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<a class="navbar-item" href="https://lmontaut.github.io/diffcol_rs.github.io/">
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Differentiable Collisions Detection
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</a>
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</div>
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</div>
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</div>
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</div>
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</nav>
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<section class="hero">
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<div class="hero-body">
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<div class="container is-max-desktop">
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<div class="columns is-centered">
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<div class="column has-text-centered">
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<h1 class="title is-1 publication-title">End-to-End and Highly-Efficient Differentiable Simulation for Robotics</h1>
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<div class="is-size-5 publication-authors">
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<span class="author-block">
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<a href="https://quentinll.github.io">Quentin Le Lidec</a><sup>*</sup>,</span>
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<span class="author-block">
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<a href="https://lmontaut.github.io">Louis Montaut</a><sup>*</sup>,</span>
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<span class="author-block">
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<a href="https://ymontmarin.github.io/">Yann de Mont-Marin</a><sup>*</sup>,</span>
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<span class="author-block">
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<a href="https://jcarpent.github.io">Justin Carpentier</a></span>
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</div>
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<div class="is-size-5 publication-authors">
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<span class="author-block"><sup>*</sup>Equal contribution.</span>
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</div>
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<div class="is-size-5 publication-authors">
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<span class="author-block">All authors are with INRIA Willow.</span>
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</div>
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<div class="column has-text-centered">
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<div class="publication-links">
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<!-- PDF Link. -->
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<span class="link-block">
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<a href="./static/paper/simple2024gradients.pdf"
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class="external-link button is-normal is-rounded is-dark">
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<span class="icon">
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<i class="fas fa-file-pdf"></i>
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</span>
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<span>Paper</span>
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</a>
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</span>
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<span class="link-block">
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<a href=""
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class="external-link button is-normal is-rounded is-dark">
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<span class="icon">
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<i class="fas fa-globe-europe"></i>
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</span>
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<span>HAL</span>
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</a>
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</span>
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<span class="link-block">
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<a href=""
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class="external-link button is-normal is-rounded is-dark">
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<span class="icon">
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<i class="ai ai-arxiv"></i>
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</span>
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<span>arXiv</span>
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</a>
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</span>
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<!-- Video Link. -->
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<span class="link-block">
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<a href=""
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class="external-link button is-normal is-rounded is-dark">
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<span class="icon">
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<i class="fab fa-youtube"></i>
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</span>
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<span>Video</span>
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</a>
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</span>
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<!-- Code Link. -->
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<span class="link-block">
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<a href="https://github.com/Simple-Robotics/Simple"
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class="external-link button is-normal is-rounded is-dark">
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<span class="icon">
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<i class="fab fa-github"></i>
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</span>
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<span>Code</span>
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</a>
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</span>
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</div>
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</div>
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</div>
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</div>
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</div>
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</div>
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</section>
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<section class="section">
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<div class="container is-max-desktop">
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<!-- Paper video. -->
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<!-- <div class="columns is-centered has-text-centered">
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<div class="column is-four-fifths">
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<div class="publication-video">
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<iframe src="https://www.youtube.com/embed/i_qg9cTx0NY"
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frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
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</div>
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</div>
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</div> -->
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<!--/ Paper video. -->
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<!-- Abstract. -->
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<div class="columns is-centered has-text-centered">
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<div class="column is-four-fifths">
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<h2 class="title is-3">Abstract</h2>
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<div class="content has-text-justified">
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Over the past few years, robotics simulators have largely improved in
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efficiency and scalability, enabling them to generate years of simulated data in a
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few hours. Yet, efficiently and accurately computing the simulation derivatives
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remains an open challenge, with potentially high gains on the convergence speed
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of reinforcement learning and trajectory optimization algorithms, especially for
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problems involving physical contact interactions. This paper contributes to this
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objective by introducing a unified and efficient algorithmic solution for computing
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the analytical derivatives of robotic simulators. The approach considers both the
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collision and frictional stages, accounting for their intrinsic nonsmoothness and also exploiting the sparsity induced by the underlying multibody systems. These derivatives have been implemented in C++, and the code will be open-sourced in the <a href="https://github.com/Simple-Robotics/Simple">Simple</a> simulator. They depict state-of-the-art timings ranging from 5 microseconds for
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a 7-dof manipulator up to 95 microseconds for 36-dof humanoid, outperforming alternative
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solutions by a factor of at least 100.
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</div>
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</div>
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</div>
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<!--/ Abstract. -->
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<!-- Benchmarks. -->
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<div class="columns is-centered has-text-centered">
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<div class="column is-max-desktop">
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<h2 class="title is-3">Benchmarks</h2>
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<div class="container is-max-desktop">
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<div class="content has-text-left">
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We compared our approach to MuJoCo, and MJX frameworks. Timing statistics
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(mean and standard deviation in microseconds) for simulation, gradient, and finite-differences com-
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putation are measured for one simulation step. For MJX, N/A denotes scenarios where geometries were not sup-
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ported.
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</div>
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<div class="columns is-centered">
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<div class="column">
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<div class="content">
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<image src="./static/images/timings_grad.png" alt="" style="width:100%"></image>
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</div>
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</div>
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</div>
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<!-- <div class="columns is-centered">
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<div class="column">
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<image src="./static/images/go_cube.png" alt="" style="width:100%"></image>
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</div>
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</div>
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<div class="column">
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<div class="content">
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<image src="./static/images/go_handstand.png" alt="" style="width:100%">
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</div>
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</div>
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<div class="column">
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<div class="content">
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<image src="./static/images/h1_pushups.png" alt="" style="width:100%">
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</div>
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</div>
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<div class="column">
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<div class="content">
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<image src="./static/images/half_cheetah_simple.png" alt="" style="width:100%">
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</div>
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</div>
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</div> -->
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</div>
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</div>
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</div>
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<!--/ Benchmarks. -->
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</div>
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</section>
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<section class="section">
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<div class="container is-max-desktop">
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<!-- Concurrent Work. -->
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<div class="columns is-centered">
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<div class="column is-full-width">
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<h2 class="title is-3">Related Links</h2>
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<div class="content has-text-justified">
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This work heavily relies on the <a
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href="https://github.com/stack-of-tasks/pinocchio">Pinocchio</a> and <a
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href="https://github.com/humanoid-path-planner/hpp-fcl">HPP-FCL</a> libraries.
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</div>
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</div>
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</div>
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<!--/ Concurrent Work. -->
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</div>
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</section>
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<section class="section" id="BibTeX">
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<div class="container is-max-desktop content">
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<h2 class="title">BibTeX</h2>
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<pre><code>@article{simple2024gradients,
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author = {Le Lidec, Quentin and Montaut, Louis and De Mont-Marin, Yann and Carpentier, Justin},
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title = {End-to-End and Highly-Efficient Differentiable Simulation for Robotics},
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journal = {preprint},
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year = {2024},
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}</code></pre>
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</div>
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</section>
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<footer class="footer">
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<div class="container">
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<div class="content has-text-centered">
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<a class="icon-link"
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href="./static/paper/simple2024gradients.pdf">
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<i class="fas fa-file-pdf"></i>
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</a>
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<a class="icon-link" href="https://github.com/Simple-Robotics" class="external-link" disabled>
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<i class="fab fa-github"></i>
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</a>
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</div>
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<div class="columns is-centered">
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<div class="column is-8">
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<div class="content">
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<p>
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This website is licensed under a <a rel="license"
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href="http://creativecommons.org/licenses/by-sa/4.0/">Creative
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Commons Attribution-ShareAlike 4.0 International License</a>.
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</p>
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<p>
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We thank <a
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href="https://github.com/nerfies/nerfies.github.io">Nerfies</a> for creating the template of this webpage.
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You are free to borrow the <a
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href="https://github.com/simple-robotics.github.io/publications/simple-gradients">source code</a>,
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we just ask that you link back to the <a
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href="https://github.com/nerfies/nerfies.github.io">Nerfies</a> page in the footer.
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</p>
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</div>
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</footer>
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</body>
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</html>

‎publications/simple-gradients/static/css/bulma-carousel.min.css‎

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