Skip to content

Welcome to Axion

Axion is a cutting-edge differentiable physics simulator that bridges the gap between physical simulation and gradient-based optimization. Built on NVIDIA Warp, it provides researchers and engineers with a powerful tool for developing and testing algorithms in robotics, machine learning, and computational physics.

Why Axion?

Modern robotics and machine learning applications require physics simulators that are not only fast and accurate but also differentiable. Axion addresses this need by providing:

  • 🚀 GPU Acceleration - Leverage CUDA for real-time or faster-than-real-time simulation
  • 🔄 Differentiable Simulation - Compute gradients through complex physics for optimization
  • ⚙️ Flexible Architecture - Modular design allows easy extension and customization
  • 📊 Rich Data Logging - Comprehensive HDF5-based logging for analysis and debugging

Quick Navigation

  • Getting Started

    New to Axion? Start here with installation and your first simulation

  • User Guide

    Learn core concepts and how to use Axion effectively

  • Tutorials

    Step-by-step guides for common simulation scenarios

  • API Reference

    Detailed documentation of all classes and functions

Key Features

Physics Capabilities

Axion implements state-of-the-art physics simulation techniques:

  • Rigid Body Dynamics - Fast and stable simulation of articulated and free-floating bodies
  • Contact & Collision - Robust handling with configurable stiffness and damping parameters
  • Friction Models - Accurate Coulomb friction for realistic contact interactions
  • Joint Constraints - Support for revolute joints

Technical Features

  • Differentiable Simulation - Full gradient computation through the simulation pipeline
  • Constraint-Based Physics - Modern constraint solver for accurate dynamics
  • Matrix-Free Solvers - Memory-efficient algorithms for large-scale systems
  • Hydra Configuration - Flexible experiment management and parameter sweeping
  • CUDA Graph Optimization - Minimized kernel launch overhead for maximum GPU utilization

Getting Help

Contributing

We welcome contributions from the community! Whether it's bug fixes, new features, or documentation improvements, please check our Contributing Guide to get started.

License

Axion is open-source software licensed under the MIT License. See the LICENSE file for details.

Ready to start simulating?

Get Started →