It currently implements various rigid-body dynamics algorithms, including forward and inverse dynamics, as well as contact models based on impulse-level LCP and force-based nonlinear spring-dampers.

The original results of 52% on val-unseen are produced with a specific version of PyTorch 0.4.x (see issue). We are aware of that the results are stablely lower than 52% (around 51%) with PyTorch ...