@article{efficientdifferentiablesimulationof,
  title = {Efficient Differentiable Simulation of Articulated Bodies},
  author = {Yi-Ling Qiao and Junbang Liang and Vladlen Koltun and Ming C. Lin},
  year = {2021},
  eprint = {2109.07719},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.07719v1},
}