ComFree-Sim: A GPU-Parallelized Analytical Contact Physics Engine for Scalable Contact-Rich Robotics Simulation and Control

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References (38)

[1]
ContactGaussian-WM: Learning Physics-Grounded World Model from Videos
2026Meizhong Wang, Wanxin Jin et al.
[2]
mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning
2026Kevin Zakka, Qiayuan Liao et al.
[3]
Where to Touch, How to Contact: Hierarchical RL-MPC Framework for Geometry-Aware Long-Horizon Dexterous Manipulation
2026Zhixian Xie, Yu Xiang et al.
[4]
SPIDER: Scalable Physics-Informed Dexterous Retargeting
2025Chaoyi Pan, Changhao Wang et al.
[5]
Demonstrating GPU Parallelized Robot Simulation and Rendering for Generalizable Embodied AI with ManiSkill3
2025Stone Tao, Fanbo Xiang et al.
[6]
Judo: A User-Friendly Open-Source Package for Sampling-Based Model Predictive Control
2025Albert H. Li, Brandon Hung et al.
[7]
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2025Nvidia Mayank Mittal, Pascal Roth et al.
[8]
Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing
2024Haoru Xue, Chaoyi Pan et al.
[9]
DROP: Dexterous Reorientation via Online Planning
2024Albert H. Li, Preston Culbertson et al.
[10]
Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control
2024Juan Alvarez-Padilla, John Z. Zhang et al.
[11]
ContactSDF: Signed Distance Functions as Multi-Contact Models for Dexterous Manipulation
2024Wen Yang, Wanxin Jin
[12]
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation
2024Wanxin Jin
[13]
FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects
2023Bowen Wen, Wei Yang et al.
[14]
Champion-level drone racing using deep reinforcement learning
2023Elia Kaufmann, L. Bauersfeld et al.
[15]
LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning
2023Kenneth Shaw, Ananye Agarwal et al.
[16]
LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning
2023Bo Liu, Yifeng Zhu et al.
[17]
Contact Models in Robotics: A Comparative Analysis
2023Quentin Le Lidec, Wilson Jallet et al.
[18]
Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
2022Taylor A. Howell, Nimrod Gileadi et al.
[19]
BEHAVIOR-1K: A Benchmark for Embodied AI with 1, 000 Everyday Activities and Realistic Simulation
2022Chengshu Li, Ruohan Zhang et al.
[20]
An Unconstrained Convex Formulation of Compliant Contact
2021Alejandro M. Castro, Frank Permenter et al.

Showing 20 of 38 references

Founder's Pitch

"ComFree-Sim is a GPU-parallelized contact physics engine that enhances robotics simulation and control with near-linear scaling and high throughput."

Robotics SimulationScore: 8View PDF ↗

Commercial Viability Breakdown

0-10 scale

High Potential

2/4 signals

5

Quick Build

4/4 signals

10

Series A Potential

4/4 signals

10

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