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20232025
most citedOptimizing Local Satisfaction of Long-Run Average Objectives in Markov Decision Processes

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cs.RO2025

Differentiable Simulation of Hard Contacts with Soft Gradients for Learning and Control

Anselm Paulus, A. René Geist, Pierre Schumacher +3

Contact forces introduce discontinuities into robot dynamics that severely limit the use of simulators for gradient-based optimization. Penalty-based simulators such as MuJoCo, sof…