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Batched Differentiable Rigid Body Dynamics in PyTorch for GPU-Accelerated Robot Learning
arXiv:2605.31481v1 Announce Type: new Abstract: As robot control shifts toward large-scale reinforcement learning with in-loop dynamics computation, the community's reliance on CPU-bound libraries such as Pinocchio creates a throughput bottleneck in GPU-based training pipelines. We present BARD (Batched Articulated Rigid-body Dynamics), a self-contained PyTorch implementation of Featherstone's rigid-body dynamics algorithms, optimized for batched GPU evaluation and automatic differentiation....
Psychic poet sues sister over father’s £450,000 will in bitter family inheritance dispute
Psychic poet sues sister over father’s £450,000 will in bitter family inheritance dispute He claims that his father was too ‘mentally confused’ to draw up a will - Bookmark A psychic poet is embroiled in a legal battle over his late father's £450,000 will, which saw him and his other siblings cut out in favour of his younger sister and her daughter. Gary Pammen, also known as Gary Allen or "The Cockney Bard", is an author, poet, and philosopher who has appeared on the BBC, Sky, and ITV. He...
How Spain Avoided the Global Populist Backlash
As recently as five years ago, Spain was no one’s idea of an economic success story. Southern European countries have long been notorious for lagging behind their neighbors to the north. Portugal, Italy, Greece, and Spain were referred to by the intentionally unflattering nickname “PIGS” after they had to be bailed out following the 2008 financial crisis.
Add to playlist: the whimsy and warped electronics of duo Ear and the week’s best new tracks
The duo Ear, consisting of Jonah Paz and Yaelle Avtan, has released their second album, which explores vivid and weirder territory compared to their previous lo-fi sound. Their debut track, "Nerves," features murmuring voices and weightless strings before being abruptly overtaken by a blaring bass synth.
NASA just proved spacecraft can switch between multiple satellite networks
NASA just proved spacecraft can switch between multiple satellite networks - Date: - June 6, 2026 - Source: - NASA - Summary: - NASA’s PExT terminal has shown that spacecraft can seamlessly communicate through multiple government and commercial networks, a major step beyond traditional single-network systems.
'Surreal': Montgomery hits walk-off HR in debut
CHICAGO -- Calling it "something out of dreams," Chicago White Sox rookie Braden Montgomery on Tuesday became the fifth player since 1900 to hit a walk-off homer in his MLB debut. Montgomery, 23, hit a 0-1 changeup off Atlanta Braves closer Raisel Iglesias, erasing a 5-4 deficit with two outs and a runner on third base in the bottom of the 10th inning. Pandemonium ensued as the ball landed in the White Sox bullpen while Montgomery began his trip around the bases for his first career home run.
Whole-genome duplication shaped cell-type evolution in the vertebrate brain
Abstract The complex brains of vertebrates have more cell types than those of their closest relatives. Whole-genome duplications (WGDs) occurred during early vertebrate evolution1, but it is unclear whether the duplicated genes (ohnologues) facilitated cell-type evolution. Here using brain single-cell transcriptomes from five chordates—human2, mouse3, lizard4, lamprey5 and amphioxus—we report that many cell-type families with conserved core transcription factors in vertebrates do not show...
Book Dedications
To my sister, Dr. Soma Mohammed Mohammed Baroud. I write your name in full, because that is how it appeared on the white body bag that held your remains soon after the bomb was dropped. Dedications A random assortment of book dedications.