Publications

CRISP builds on research from the Interactive & Networked Robotics Laboratory (INRoL) on robotic multi-contact dynamics and collision geometry. The papers below present the methods and their evaluations.

Citation

If you use CRISP in your research, please cite this repository:

@misc{crisp2026,
  title = {{CRISP}: Contact-Rich Robotic Simulation Platform with Extensive Geometries and Contact Solvers},
  author = {{Interactive \& Networked Robotics Laboratory (INRoL)}},
  year = {2026},
  url = {https://github.com/INRoL/crisp}
}

Please also cite the relevant papers below when using the corresponding methods.

Related publications

• S. Lee, S. Park, J. Yun, S. An, and D. J. Lee, "CRISP: Contact-Rich Robotic Simulation Platform with Extensive Geometries and Contact Solvers," arXiv preprint, 2026.
• J. Lee, M. Lee, S. Park, J. Yun, and D. J. Lee, "Variations of Augmented Lagrangian for Robotic Multi-Contact Simulation," IEEE Transactions on Robotics, 2025.
• J. Lee, M. Lee, and D. J. Lee, "Modular and Parallelizable Multibody Physics Simulation via Subsystem-Based ADMM," IEEE International Conference on Robotics and Automation, 2023.
• H. Ji, H. Kim, J. Lee, S. Lee, S. An, J. Heo, Y. Lee, Y. Lee, and D. J. Lee, "GPU-Accelerated Subsystem-Based ADMM for Large-Scale Interactive Simulation," IEEE International Conference on Robotics and Automation, 2025.
• J. Lee, M. Lee, and D. J. Lee, "Uncertain Pose Estimation during Contact Tasks Using Differentiable Contact Features," Robotics: Science and Systems, 2023.
• S. An, S. Lee, J. Lee, S. Park, and D. J. Lee, "Collision Detection between Smooth Convex Bodies via Riemannian Optimization Framework," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024.