Kamino: GPU-based Simulation of Rigid Multi-Body Physics with Kinematic Loops

Name: Kamino: GPU-based Simulation of Rigid Multi-Body Physics with Kinematic Loops
Uploaded: 2026-10-22T17:00:45.142240+00:00
Duration: 460 s
Description: Kamino is a GPU-native physics solver designed for massively parallel simulations of complex mechanical systems with kinematic loops. It solves rigid multi-body dynamics using a maximal-coordinate formulation and ProximalADMM, overcoming limitations of traditional solvers that assume simple tree structures. This enables high-throughput RL training on robots with intricate joint topologies.

Kamino is a GPU-native physics solver designed for massively parallel simulations of complex mechanical systems with kinematic loops. It solves rigid multi-body dynamics using a maximal-coordinate formulation and ProximalADMM, overcoming limitations of traditional solvers that assume simple tree structures. This enables high-throughput RL training on robots with intricate joint topologies.

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