2 papers
cs.RO2025
On the Conic Complementarity of Planar Contacts
Yann de Mont-Marin, Louis Montaut, Jean Ponce +2
We present a unifying theoretical result that connects two foundational principles in robotics: the Signorini law for point contacts, which underpins many simulation methods for pr…
cs.RO2025
End-to-End and Highly-Efficient Differentiable Simulation for Robotics
Quentin Le Lidec, Louis Montaut, Yann de Mont-Marin +2
Over the past few years, robotics simulators have largely improved in efficiency and scalability, enabling them to generate years of simulated data in a few hours. Yet, efficiently…