@article{improvinggradientcomputationfor,
  title = {Improving Gradient Computation for Differentiable Physics Simulation with Contacts},
  author = {Yaofeng Desmond Zhong and Jiequn Han and Biswadip Dey and Georgia Olympia Brikis},
  year = {2023},
  eprint = {2305.00092},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2305.00092v1},
}