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<title>ComFree-Sim: A GPU-Parallel Analytical Contact Physics Engine for
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<h1 class="title is-1 publication-title">ComFree-Sim: A GPU-Parallelized Analytical Contact Physics Engine for Scalable Contact-Rich Robotics Simulation and Control</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href="https://asu-iris.github.io/" target="_blank">Chetan Borse<sup>1</sup>, </a>   </span>
<span class="author-block">
<a href="https://zhi-xian-xie.github.io/" target="_blank">Zhixian Xie<sup>1</sup>, </a>   </span>
<span class="author-block">
<a href="https://rory-weicheng.github.io/" target="_blank">Wei-Cheng Huang<sup>2</sup>,</a>   </span>
<span class="author-block">
<a href="https://asu-iris.github.io/" target="_blank">Wanxin Jin<sup>1</sup></a></span>
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<a href="https://zhuoranyang.github.io/" target="_blank">Zhuoran Yang</a><sup>3</sup>  </span>
<span class="author-block">
<a href="https://engineering.purdue.edu/AAE/people/ptProfile?resource_id=124981" target="_blank">Shaoshuai Mou</a><sup>4</sup>,  </span>
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<span class="author-block">
<a href="https://www.georgejpappas.org/" target="_blank">George J. Pappas</a><sup>5</sup>
</span> -->
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<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>Arizona State University   </span>
<span class="author-block"><sup>2</sup>University of Illinois, Urbana-Champaign</span>
<!-- <span class="author-block"><sup>3</sup>Yale University,  </span><br>
<span class="author-block"><sup>4</sup>Purdue University,  </span>
<span class="author-block"><sup>5</sup>University of Pennsylvania</span> -->
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</figure>
<br>
<b>Overview:</b>
ComFree-Sim is a GPU-parallelized analytical physics engine powered by
complementarity-free contact dynamics modeling. In dense contact scenarios,
it delivers 2-3x higher throughput than MJWarp while maintaining comparable and
tunable physical fidelity. This low-latency performance significantly improves the
success rates of high-frequency simulation-based control for contact-rich tasks—such
as dexterous manipulation and agile locomotion. Furthermore, its analytical
approach to contact physics bypasses the complexity of traditional iterative
solvers, offering a framework that is <strong style="font-weight: 1500;">significantly simpler, more lightweight,
and easier to tune and integrate into downstream tasks.</strong>
<br><br>
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<br>
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<br>
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</div>
</section>
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<!-- Results header. -->
<h1 class="title is-2 has-text-centered">Comfree-Sim for Real-time Dexterous Manipulation</h1>
<p>In object reorientation tasks, the LEAP Hand rotates the cube to the desired pose. We implement MPPI
with ComFree-Sim and achieve real-time control at ~35-72Hz. We deploy the system for 4 objects.
</p>
<br>
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<li class="is-active"><a class="tab-font" data-tab="1">Cube</a></li>
<li><a class="tab-font" data-tab="1">Duck</a></li>
<li><a class="tab-font" data-tab="1">Spam Tin</a></li>
<li><a class="tab-font" data-tab="1">Cylinder</a></li>
</ul>
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type="video/mp4">
</video>
</div>
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<source src="./static/videos/comfree-videos/mpc/cube_roll.mp4"
type="video/mp4">
</video>
</div>
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<video class="interpolation-video tabs-balls-1" autoplay muted loop style="width: 100%; aspect-ratio: 4/3;">
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type="video/mp4">
</video>
</div>
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<video class="interpolation-video tabs-balls-1" autoplay muted loop style="width: 100%; aspect-ratio: 4/3;">
<source src="./static/videos/comfree-videos/mpc/cube_roll_2.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
<br>
<br>
<hr>
</div>
</section>
<section class="section" style="margin-top: -2.0rem;">
<div class="container is-max-desktop">
<!-- Results header. -->
<h1 class="title is-2 has-text-centered">ComFree-Sim for Dual Arm Manipulation</h1>
<p>Dual arm manipulation tasks require synchronized control of two robotic arms to perform complex object
manipulation and assembly operations. ComFree-Sim enables real-time simulation and control of dual arm systems
in the MuJoCo rollout environment with high contact complexity.
</p>
<br>
<!-- Results videos. -->
<div class="columns is-vcentered has-text-centered is-full-width" style="flex-wrap: wrap;">
<div class="column is-half">
<h3 class="title is-4">Dual Arm Lifting</h3>
<div class="publication-video">
<video class="interpolation-video" autoplay muted loop style="width: 100%; max-width: 600px; height: auto;">
<source src="./static/videos/comfree-videos/mpc/dual_arm_lifting.mp4"
type="video/mp4">
</video>
</div>
</div>
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<h3 class="title is-4">Dual Arm Rotating</h3>
<div class="publication-video">
<video class="interpolation-video" autoplay muted loop style="width: 100%; max-width: 600px; height: auto;">
<source src="./static/videos/comfree-videos/mpc/dual_arm_rotating.mp4"
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</video>
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</div>
<hr>
</div>
</section>
<section class="section" style="padding-top: -12.0rem;">
<div class="container is-max-desktop">
<!-- Results header. -->
<h1 class="title is-2 has-text-centered">Comfree-Sim for Dynamics-Aware Retargeting For Agile Locomotion</h1>
<p>We evaluate ComFree-Sim on dynamics-aware motion retargeting for locomotion, using MuJoCo-CPU as the rollout
environment. The results demonstrate that ComFree-Sim achieves reference-tracking performance comparable to the
native MuJoCo backend with a manageable sim-to-sim gap, while substantially reducing total optimization time.
</p>
<br>
<!--/ Results header. -->
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<li class="is-active" style="margin: 0;"><a class="tab-font" data-tab="2" style="display: block; padding: 12px 8px; background-color: #3273dc; color: white; border-radius: 0; text-align: center; cursor: pointer; width: 150px; box-sizing: border-box; overflow: hidden; text-overflow: ellipsis;">Cartwheels</a></li>
<li style="margin: 0;"><a class="tab-font" data-tab="2" style="display: block; padding: 12px 8px; background-color: #dbdbdb; color: #363636; border-radius: 0; text-align: center; cursor: pointer; width: 150px; box-sizing: border-box; overflow: hidden; text-overflow: ellipsis;">Martial Arts</a></li>
<li style="margin: 0;"><a class="tab-font" data-tab="2" style="display: block; padding: 12px 8px; background-color: #dbdbdb; color: #363636; border-radius: 0; text-align: center; cursor: pointer; width: 150px; box-sizing: border-box; overflow: hidden; text-overflow: ellipsis;">Dance</a></li>
<li style="margin: 0;"><a class="tab-font" data-tab="2" style="display: block; padding: 12px 8px; background-color: #dbdbdb; color: #363636; border-radius: 0; text-align: center; cursor: pointer; width: 150px; box-sizing: border-box; overflow: hidden; text-overflow: ellipsis;">Getup</a></li>
<li style="margin: 0;"><a class="tab-font" data-tab="2" style="display: block; padding: 12px 8px; background-color: #dbdbdb; color: #363636; border-radius: 0; text-align: center; cursor: pointer; width: 150px; box-sizing: border-box; overflow: hidden; text-overflow: ellipsis;">PushBox</a></li>
<li style="margin: 0;"><a class="tab-font" data-tab="2" style="display: block; padding: 12px 8px; background-color: #dbdbdb; color: #363636; border-radius: 0; text-align: center; cursor: pointer; width: 150px; box-sizing: border-box; overflow: hidden; text-overflow: ellipsis;">N1 Sprint</a></li>
<li style="margin: 0;"><a class="tab-font" data-tab="2" style="display: block; padding: 12px 8px; background-color: #dbdbdb; color: #363636; border-radius: 0; text-align: center; cursor: pointer; width: 150px; box-sizing: border-box; overflow: hidden; text-overflow: ellipsis;">N1 Runback</a></li>
<li style="margin: 0;"><a class="tab-font" data-tab="2" style="display: block; padding: 12px 8px; background-color: #dbdbdb; color: #363636; border-radius: 0; text-align: center; cursor: pointer; width: 150px; box-sizing: border-box; overflow: hidden; text-overflow: ellipsis;">T1 Sprint</a></li>
<li style="margin: 0;"><a class="tab-font" data-tab="2" style="display: block; padding: 12px 8px; background-color: #dbdbdb; color: #363636; border-radius: 0; text-align: center; cursor: pointer; width: 150px; box-sizing: border-box; overflow: hidden; text-overflow: ellipsis;">T1 Skip</a></li>
</ul>
</div>
</div>
<!-- Video on right -->
<div class="column is-vcentered" style="padding: 75px;">
<div class="publication-video">
<video class="interpolation-video tabs-hands-2" autoplay muted loop style="width: 100%; height: auto;">
<source src="./static/videos/comfree-videos/retargeting/cartwheels.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
<!--/ Results videos. -->
</div>
</section>
<!-- Acknowledgements -->
<section class="section">
<div class="container is-max-desktop">
<br>
<hr style="margin-top: -10rem;">
<br>
<!-- Results header. -->
<h1 class="title is-2 has-text-centered">Acknowledgements</h1>
<p>We thank the MuJoCo Warp (MJWarp) team at Google DeepMind and NVIDIA for making the code publicly
available. We also thank Vamsi Sai Abhijit Tadepalli from the IRIS Lab for maintaining the
vision-tracking module used in our real-world in-hand manipulation experiments.
</p>
</div>
</section>
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<pre id="bibtex-content"><code>@article{borse2026comfree,
title={ComFree-Sim: A GPU-Parallelized Analytical Contact Physics Engine for Scalable Contact-Rich Robotics Simulation and Control},
author={Borse, Chetan and Xie, Zhixian and Huang, Wei-Cheng and Jin, Wanxin},
journal={arXiv preprint arXiv:2603.12185},
year={2026}
}</code></pre>
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