Differentiable Transform Program
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![Differentiable Transform Program [2403.14864] Learning Quadruped Locomotion Using Differentiable Simulation](https://ar5iv.labs.arxiv.org/html/2403.14864/assets/figures/diff_sim.png)















![Differentiable Transform Program [2403.14864] Learning Quadruped Locomotion Using Differentiable Simulation](https://ar5iv.labs.arxiv.org/html/2403.14864/assets/figures/DiffCtrlOverview.png)



































