Shypd.aiThe largest open index of AI toolsTiny Differentiable Simulator is an open-source scientific computing tool that provides a header-only C++ and CUDA physics library. It enables reinforcement learning and robotics simulations with zero dependencies.
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Tiny Differentiable Simulator is a header-only C++ and CUDA physics library designed for reinforcement learning and robotics applications. It boasts zero dependencies, making it a lightweight and efficient solution for developers. The library implements various rigid-body dynamics algorithms, including forward and inverse dynamics, alongside contact models based on impulse-level LCP and force-based nonlinear spring-dampers. It also includes actuator models for motors, servos, and Series-Elastic Actuator (SEA) dynamics. The entire codebase is templatized, supporting automatic differentiation scalar types like CppAD, Stan Math fvar, and ceres::Jet, as well as regular float/double precision and fixed-point integer math for cross-platform deterministic computation. It can run thousands of simulations in parallel on a single RTX 2080 CUDA GPU at 50 frames per second and offers OpenGL 3+ and MeshCat visualizers.
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