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While most robotics simulation libraries are built for low-dimensional andintrinsically serial tasks, soft-body and multi-agent robotics have created ademand for simulation environments that can model many interacting bodies inparallel. Despite the increasing interest in these fields, no existingsimulation library addresses the challenge of providing a unified,highly-parallelized, GPU-accelerated interface for simulating large roboticsystems. Titan is a versatile CUDA-based C++ robotics simulation library thatemploys a novel asynchronous computing model for GPU-accelerated simulations ofrobotics primitives. The innovative GPU architecture design permitssimultaneous optimization and control on the CPU while the GPU runsasynchronously, enabling rapid topology optimization and reinforcement learningiterations. Kinematics are solved with a massively parallel integration schemethat incorporates constraints and environmental forces. We report dramaticallyimproved performance over CPU-based baselines, simulating as many as 300million primitive updates per second, while allowing flexibility for a widerange of research applications. We present several applications of Titan tohigh-performance simulations of soft-body and multi-agent robots.

Titan: A Parallel Asynchronous Library for Multi-Agent and Soft-Body Robotics using NVIDIA CUDA