OrbiSim builds a differentiable physics engine from world models to support gradient-based policy optimization and contact modeling in robotics.
Model-based reinforcement learning with isolated imaginations.TPAMI, 46(5):2788–2803, 2024
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OrbiSim: World Models as Differentiable Physics Engines for Embodied Intelligence
OrbiSim builds a differentiable physics engine from world models to support gradient-based policy optimization and contact modeling in robotics.