@article{simplebutstablefastandsafeachieveendtoen,
  title = {Simple but Stable, Fast and Safe: Achieve End-to-end Control by High-Fidelity Differentiable Simulation},
  author = {Fanxing Li and Shengyang Wang and Yuxiang Huang and Fangyu Sun and Shuyu Wu and Yufei Yan and Danping Zou and Wenxian Yu},
  year = {2026},
  eprint = {2604.10548},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.10548},
}