pip3 install diffdart
** WARNING: PRE-ALPHA SOFTWARE! EXPECT BUGS! **
Use physics as a non-linearity in your neural network! We've got a forward pass, which is a single physics timestep:
And an analytical backwards pass, that works even through contact and friction!
It's as easy as:
from diffdart import dart_layer # Everything is a PyTorch Tensor, and this is differentiable!! next_positions, next_velocities = dart_layer(world, positions, velocities, forces)
This is a fork of the popular DART physics engine, with analytical gradients and a PyTorch binding.
Check out our website for more information.