GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients
Brian Plancher,Sabrina M. Neuman,Radhika Ghosal,Scott Kuindersma,Vijay Janapa Reddi,Brian Plancher,Sabrina M. Neuman,Radhika Ghosal,Scott Kuindersma,Vijay Janapa Reddi
We introduce GRiD: a GPU-accelerated library for computing rigid body dynamics with analytical gradients. GRiD was designed to accelerate the nonlinear trajectory opti-mization subproblem used in state-of-the-art robotic planning, control, and machine learning, which requires tens to hundreds of naturally parallel computations of rigid body dynamics and their gradients at each iteration. GRiD leve...
