提出CENIC，让机器人仿真又快又准，自动调时间步长。
CENIC: Convex Error-controlled Numerical Integration for Contact
- 结合凸优化与误差控制，自动调节时间步长
- 实现实时速度，媲美MuJoCo等离散仿真器
- 保证精度与收敛性，适合现代机器人工作流
当前主流机器人仿真器采用离散时间步长，需人工选择时间步，过大易产生非物理现象，过小则计算缓慢。连续时间误差可控积分可自动调节步长以达到目标精度，但现有方法在接触刚性动力学上表现不佳，难以满足现代机器人工作流对速度与可扩展性的要求。本文提出CENIC，融合凸时间步进与误差控制集成的最新进展，兼具连续积分与离散步进的优点。CENIC运行速度可达实时，与MuJoCo、Drake和Isaac Sim等离散仿真器相当，同时提供精度与收敛性保障。
原文摘要 · Abstract (English)
State-of-the-art robotics simulators operate in discrete time. This requires users to choose a time step, which is both critical and challenging: large steps can produce non-physical artifacts, while small steps force the simulation to run slowly. Continuous-time error-controlled integration avoids such issues by automatically adjusting the time step to achieve a desired accuracy. But existing error-controlled integrators struggle with the stiff dynamics of contact, and cannot meet the speed and scalability requirements of modern robotics workflows. We introduce CENIC, a new continuous-time integrator that brings together recent advances in convex time-stepping and error-controlled integration, inheriting benefits from both continuous integration and discrete time-stepping. CENIC runs at fast real-time rates comparable to discrete-time robotics simulators like MuJoCo, Drake and Isaac Sim, while also providing guarantees on accuracy and convergence.
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