@article{comfreesimagpuparallelizedanalyticalcont,
  title = {ComFree-Sim: A GPU-Parallelized Analytical Contact Physics Engine for Scalable Contact-Rich Robotics Simulation and Control},
  author = {Chetan Borse and Zhixian Xie and Wei-Cheng Huang and Wanxin Jin},
  year = {2026},
  eprint = {2603.12185},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.12185},
}