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Intelligent Robotics and Interactive Systems (IRIS) Lab, Arizona State University 2 Siebel School of Computing and Data Science, University of Illinois at Urbana-Champaign ∗Co-first author with equal contribution
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Achieve 2-3x faster contact-rich robotics simulations with comparable physical fidelity by bypassing iterative complementarity solves with a GPU-friendly, closed-form contact impulse calculation.