Related papers: frax: Fast Robot Kinematics and Dynamics in JAX

We present Brax, an open source library for rigid body simulation with a focus on performance and parallelism on accelerators, written in JAX. We present results on a suite of tasks inspired by the existing reinforcement learning…

CLAX is a JAX-based library that implements classic click models using modern gradient-based optimization. While neural click models have emerged over the past decade, complex click models based on probabilistic graphical models (PGMs) have…

While most robotics simulation libraries are built for low-dimensional and intrinsically serial tasks, soft-body and multi-agent robotics have created a demand for simulation environments that can model many interacting bodies in parallel.…

QDax is an open-source library with a streamlined and modular API for Quality-Diversity (QD) optimization algorithms in Jax. The library serves as a versatile tool for optimization purposes, ranging from black-box optimization to continuous…

Federated learning is a machine learning technique that enables training across decentralized data. Recently, federated learning has become an active area of research due to an increased focus on privacy and security. In light of this, a…

We introduce Atomistic learned potentials in JAX (apax), a flexible and efficient open source software package for training and inference of machine-learned interatomic potentials. Built on the JAX framework, apax supports GPU acceleration…

This paper introduces JaxPruner, an open-source JAX-based pruning and sparse training library for machine learning research. JaxPruner aims to accelerate research on sparse neural networks by providing concise implementations of popular…

We introduce GRiD: a GPU-accelerated library for computing rigid body dynamics with analytical gradients. GRiD was designed to accelerate the nonlinear trajectory optimization subproblem used in state-of-the-art robotic planning, control,…

Coordinating growing grid flexibility under uncertainty is becoming increasingly important for efficient and reliable power-system operation. A core computational requirement is the efficient large-scale batched evaluation of AC power flow…

We present JaxUED, an open-source library providing minimal dependency implementations of modern Unsupervised Environment Design (UED) algorithms in Jax. JaxUED leverages hardware acceleration to obtain on the order of 100x speedups…

This work introduces ParamRF: a Python library for efficient, parametric modelling of radio frequency (RF) circuits. Built on top of the next-generation computational library JAX, as well as the object-oriented wrapper Equinox, the…

We introduce synax, a novel library for automatically differentiable simulation of Galactic synchrotron emission. Built on the JAX framework, synax leverages JAX's capabilities, including batch acceleration, just-in-time compilation, and…

We introduce JAX MD, a software package for performing differentiable physics simulations with a focus on molecular dynamics. JAX MD includes a number of physics simulation environments, as well as interaction potentials and neural networks…

As Deep Reinforcement Learning (Deep RL) research moves towards solving large-scale worlds, efficient environment simulations become crucial for rapid experimentation. However, most existing environments struggle to scale to high…

The Baxter robot is a standard research platform used widely in research tasks, supported with an SDK provided by the developers, Rethink Robotics. Despite the ubiquitous use of the robot, the official software support is sub-standard.…

Robotics programming typically involves a trade-off between the ease of use offered by Python and the run-time performance of C++. While multi-language architectures address this trade-off by coupling Python's ergonomics with C++'s speed,…

In our effort to facilitate machine learning-assisted computational fluid dynamics (CFD), we introduce the second iteration of JAX-Fluids. JAX-Fluids is a Python-based fully-differentiable CFD solver designed for compressible single- and…

Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck for deformable object manipulation. The continuously…

We present RUBIX, a fully tested, well-documented, and modular Open Source tool developed in JAX, designed to forward model IFU cubes of galaxies from cosmological hydrodynamical simulations. The code automatically parallelizes computations…

In this paper, we present gfnx, a fast and scalable package for training and evaluating Generative Flow Networks (GFlowNets) written in JAX. gfnx provides an extensive set of environments and metrics for benchmarking, accompanied with…