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Michele Martini

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#robotics Preprint Aug 2026

SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models

SoRoMoX (Soft Robot Models in JAX), a fully numerical, JIT-compilable Python/JAX framework that runs directly on GPUs, is end-to-end differentiable with respect to states, inputs, and parameters, and is the first rod/strain-based soft-robot modeling framework that runs directly on GPUs.

Maximilian Stölzle, Solange Gribonval, D. Feliú-Talegon et al. · 1 citation