Batched Differentiable Rigid Body Dynamics

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....