FlashNeRD：接触密集型神经机器人动力学模型

1. 12:00
   arXiv · Robotics

   FlashNeRD：性能优先的接触密集型神经机器人动力学

   FlashNeRD 提出并行流式架构、任意位置接触编码器与解析求解器的双向耦合，解决 NeRD 提速有限、仅接受预定义接触点、缺少物体双向耦合三个局限。五台机器人实验显示更快更准的动力学、更快的策略学习与推理时规划；三台机器人上动力学模型比优化后的 NeRD 最快 55 倍且长 rollout 更准。

Current heat 9·Comparable peak 10（Oct 8）·Comparable change over 24 hours –

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