An alternative complementarity formulation for primal-dual interior-point methods keeps linear systems spectrally bounded near the solution, enabling stable single-precision solves and differentiation for bilevel and end-to-end learning.
A convex quasistatic time-stepping scheme for rigid multibody systems with contact and friction
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A Differentiable Interior-Point Method in Single Precision
An alternative complementarity formulation for primal-dual interior-point methods keeps linear systems spectrally bounded near the solution, enabling stable single-precision solves and differentiation for bilevel and end-to-end learning.