{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,5]],"date-time":"2026-03-05T15:34:11Z","timestamp":1772724851578,"version":"3.50.1"},"reference-count":61,"publisher":"IEEE","license":[{"start":{"date-parts":[[2022,5,23]],"date-time":"2022-05-23T00:00:00Z","timestamp":1653264000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,5,23]],"date-time":"2022-05-23T00:00:00Z","timestamp":1653264000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["DGE1745303,2030859"],"award-info":[{"award-number":["DGE1745303,2030859"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,5,23]]},"DOI":"10.1109\/icra46639.2022.9812384","type":"proceedings-article","created":{"date-parts":[[2022,7,12]],"date-time":"2022-07-12T19:36:40Z","timestamp":1657654600000},"page":"6253-6260","source":"Crossref","is-referenced-by-count":12,"title":["GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients"],"prefix":"10.1109","author":[{"given":"Brian","family":"Plancher","sequence":"first","affiliation":[{"name":"School of Engineering and Applied SciencesM Harvard University,Cambridge,MA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sabrina M.","family":"Neuman","sequence":"additional","affiliation":[{"name":"School of Engineering and Applied SciencesM Harvard University,Cambridge,MA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Radhika","family":"Ghosal","sequence":"additional","affiliation":[{"name":"School of Engineering and Applied SciencesM Harvard University,Cambridge,MA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Scott","family":"Kuindersma","sequence":"additional","affiliation":[{"name":"School of Engineering and Applied SciencesM Harvard University,Cambridge,MA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vijay Janapa","family":"Reddi","sequence":"additional","affiliation":[{"name":"School of Engineering and Applied SciencesM Harvard University,Cambridge,MA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1111\/j.1365-246X.2010.04616.x"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1145\/1513895.1513905"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2019.00006"},{"key":"ref32","first-page":"7178","article-title":"End-to-end differentiable physics for learning and control","author":"de avila belbute-peres","year":"2018","journal-title":"Advances in neural information processing systems"},{"key":"ref31","first-page":"1","article-title":"A survey on position based dynamics, 2017","author":"bender","year":"0","journal-title":"Proceedings of the European Association for Computer Graphics Tutorials"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/SIMPAR.2016.7862380"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.067"},{"key":"ref36","article-title":"Difftaichi: Differentiable programming for physical simulation","author":"hu","year":"2020","journal-title":"International Conference on Learning Representations (ICLR)"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196808"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794333"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/SIMPAR.2018.8376281"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967788"},{"key":"ref28","article-title":"Fast and feature-complete differentiable physics for articulated rigid bodies with contact","author":"werling","year":"2021","journal-title":"ArXiv Preprint"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793875"},{"key":"ref29","author":"makoviychuk","year":"2021","journal-title":"Isaac gym High performance gpu-based physics simulation for robot learning"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593840"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2017.8246930"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1145\/1736020.1736044"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3068908"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139807"},{"key":"ref24","author":"freeman","year":"2021","journal-title":"Brax ? a differentiable physics engine for large scale rigid body simulation"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3056064"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386109"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3057845"},{"key":"ref50","author":"br\u00fcdigam","year":"2020","journal-title":"Linear-time variational integrators in maximal coordinates"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3098928"},{"key":"ref59","author":"brockman","year":"2016","journal-title":"OpenAI Gym"},{"key":"ref58","year":"0","journal-title":"Drake A planning control and analysis toolbox for nonlinear dynamical systems"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.034"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560935"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1007\/s00791-020-00327-0"},{"key":"ref54","article-title":"Combining coarse and fine physics for manipulation using parallel-in-time integration","author":"agboh","year":"2019","journal-title":"ISRR 2019 Springer Tracts in Advanced Robotics"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1115\/1.4051169"},{"key":"ref52","author":"singh","year":"2021","journal-title":"Efficient analytical derivatives of rigid-body dynamics using spatial vector algebra"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7560-7"},{"key":"ref11","first-page":"36","volume":"7","author":"frigerio","year":"0","journal-title":"RobCoGen a code generator for efficient kinematics and dynamics of articulated robots based on Domain Specific Languages"},{"key":"ref40","year":"0","journal-title":"NVIDIA NVIDIA CUDA C Programming Guide"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.038"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/SII.2019.8700380"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967694"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.2514\/1.G001921"},{"key":"ref16","article-title":"A Performance Analysis of Paral-lel Differential Dynamic Programming on a GPU","author":"plancher","year":"0","journal-title":"International Workshop on Algorithmic Foundations of Robotics (WAFR)"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353843"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487274"},{"key":"ref19","first-page":"365","article-title":"Dark silicon and the end of multicore scaling","author":"esmaeilzadeh","year":"2011","journal-title":"2011 38th Annual International Symposium on Computer Architecture (ISCA) ISCA"},{"key":"ref4","article-title":"High-frequency nonlinear model predictive control of a manipulator","author":"kleff","year":"2020","journal-title":"Preprint"},{"key":"ref3","article-title":"Realtime model predictive control using parallel ddp on a gpu","author":"plancher","year":"2019","journal-title":"Toward Online Optimal Control of Dynamic Robots Workshop at the 2019 International Conference on Robotics and Automation (ICRA)"},{"key":"ref6","first-page":"1","article-title":"Model predictive-actor critic reinforcement learning for dexterous manipulation","author":"orner","year":"2021","journal-title":"2020 International Conference on Computer Control Electrical and Electronics Engineering (ICCCEEE)"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2974653"},{"key":"ref8","author":"gros","year":"2020","journal-title":"Reinforcement learning for mixed-integer problems based on mpc"},{"key":"ref7","first-page":"990","article-title":"Deep value model predictive control","volume":"100","author":"hoeller","year":"2020","journal-title":"Proceedings of the Conference on Robot Learning ser Proceedings of Machine Learning Research"},{"key":"ref49","first-page":"1296","volume":"2","author":"yang","year":"0","journal-title":"Parallel Dynamics Computation Using Prefix Sum Operations"},{"key":"ref9","author":"morgan","year":"2021","journal-title":"Model predictive actor-critic Accelerating robot skill acquisition with deep reinforcement learning"},{"key":"ref46","first-page":"429","volume":"40","author":"kuindersma","year":"0","journal-title":"Optimization-based locomotion planning estimation and control design for Atlas"},{"key":"ref45","year":"0","journal-title":"Boston Dynamics"},{"key":"ref48","first-page":"622","volume":"28","author":"yamane","year":"0","journal-title":"Comparative Study on Serial and Parallel Forward Dynamics Algorithms for Kinematic Chains"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066619"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1145\/3445814.3446746"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909357644"},{"key":"ref44","author":"kuka","year":"0","journal-title":"Lbr iiwa - kuka ag"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1177\/0959651811402275"}],"event":{"name":"2022 IEEE International Conference on Robotics and Automation (ICRA)","location":"Philadelphia, PA, USA","start":{"date-parts":[[2022,5,23]]},"end":{"date-parts":[[2022,5,27]]}},"container-title":["2022 International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9811522\/9811357\/09812384.pdf?arnumber=9812384","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,3]],"date-time":"2022-11-03T23:08:38Z","timestamp":1667516918000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9812384\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,23]]},"references-count":61,"URL":"https:\/\/doi.org\/10.1109\/icra46639.2022.9812384","relation":{},"subject":[],"published":{"date-parts":[[2022,5,23]]}}}