arXiv cs.LGPaper
Ostrich: Taking Large Strides Through Stiff Contact in Differentiable Dynamics
This is a real engineering win for robotics and physical optimization. The problem is old: tape-based simulators blow up memory with tiny timesteps, surrogates lose geometry. Ostrich fixes it by differentiating the solution of a large-timestep solver implicitly, not unrolling it. If you're doing gradient-based robot control or physics-aware optimization, this cuts your memory footprint and timestep cost dramatically. Check it against MuJoCo.