# Brax: A Differentiable Physics Engine for Large Scale Rigid Body Simulation

*Source* · `src-freeman-2021-brax` · status: **n/a**

| field | value |
|---|---|
| kind | Peer-reviewed paper |
| authors | C. Daniel Freeman, Erik Frey, Anton Raichuk, Sertan Girgin, Igor Mordatch, Olivier Bachem |
| venue | NeurIPS 2021 Datasets and Benchmarks |
| date | 2021-06 |
| url | https://arxiv.org/abs/2106.13281 |
| arxiv | 2106.13281 |
| accessed | 2026-10-24 |

## Notes

JAX rigid-body engine; millions of steps per second on one accelerator, hundreds of millions across accelerators; Ant locomotion in about ten seconds versus about half an hour for standard PPO.

## Backlinks (computed)

**cited by:** [Differentiable simulation](../technique/differentiable-simulation.md), [Massively parallel GPU simulation](../technique/massively-parallel-simulation.md)

## Citation

C. Daniel Freeman, Erik Frey, Anton Raichuk, Sertan Girgin, Igor Mordatch, Olivier Bachem (2021-06). *Brax: A Differentiable Physics Engine for Large Scale Rigid Body Simulation*. NeurIPS 2021 Datasets and Benchmarks https://arxiv.org/abs/2106.13281

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Provenance: created in run `2026-10-24-techniques-sim-math`.