@article{batcheddifferentiablerigidbodydynamicsin,
  title = {Batched Differentiable Rigid Body Dynamics in PyTorch for GPU-Accelerated Robot Learning},
  author = {Yue Wang and Yanran Xu and Wenbo Wu and Chuanhang Qiu and Zhaoxing Li},
  year = {2026},
  eprint = {2605.31481},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.31481},
}