References

References#

Cross-references elsewhere use keys like [Mink]_. To cite mink-warp itself, use CITATION.cff (GitHub “Cite this repository”) or the BibTeX below.

Cite mink-warp#

Nedelchev, S., & Domrachev, I. (2026). mink-warp: Batched differential inverse kinematics on MuJoCo Warp.

Cite
@software{nedelchev2026minkwarp,
  author       = {Nedelchev, Simeon and Domrachev, Ivan},
  title        = {{mink-warp: Batched differential inverse kinematics on MuJoCo Warp}},
  year         = {2026},
  version      = {0.1.0},
  url          = {https://github.com/simeon-ned/mink-warp},
  repository   = {https://github.com/simeon-ned/mink-warp},
  license      = {Apache-2.0},
}

Publications#

mw-bib-entry

  1. Samson, C., Espiau, B., & Le Borgne, M. (1991). Robot Control: The Task Function Approach. Oxford University Press.

    Cite
    @book{samson1991robot,
  title     = {Robot Control: The Task Function Approach},
  author    = {Samson, Claude and Espiau, Bernard and Le Borgne, Michel},
  year      = {1991},
  publisher = {Oxford University Press},
}

  2. Sugihara, T. (2011). Solvability-unconcerned inverse kinematics by the Levenberg–Marquardt method. IEEE Transactions on Robotics, 27(5), 984–991. DOI

    Cite
    @article{sugihara2011solvability,
  title   = {Solvability-unconcerned inverse kinematics by the {Levenberg--Marquardt} method},
  author  = {Sugihara, Tomomichi},
  journal = {IEEE Transactions on Robotics},
  volume  = {27},
  number  = {5},
  pages   = {984--991},
  year    = {2011},
}

  3. Solà, J., Deray, J., & Atchuthan, D. (2018). A micro Lie theory for state estimation in robotics. arXiv:1812.01537. arXiv

    Cite
    @article{sola2018micro,
  title   = {A micro {Lie} theory for state estimation in robotics},
  author  = {Sol{\`a}, Joan and Deray, Jeremie and Atchuthan, Dennis},
  journal = {arXiv preprint arXiv:1812.01537},
  year    = {2018},
}

  4. Caron, S. (2023). Jacobian of a kinematic task and derivatives on manifolds. Online note

    Cite
    @misc{caron2023jacobian,
  author       = {Caron, St{\'e}phane},
  title        = {Jacobian of a kinematic task and derivatives on manifolds},
  year         = {2023},
  howpublished = {\url{https://scaron.info/robotics/jacobian-of-a-kinematic-task-and-derivatives-on-manifolds.html}},
}

All entries#

Software: CITATION.bib · Download references.bib (method papers + related software) or expand below.

Full BibTeX file
% -----------------------------------------------------------------------------
% Theory and methods
% -----------------------------------------------------------------------------

@book{samson1991robot,
  title     = {Robot Control: The Task Function Approach},
  author    = {Samson, Claude and Espiau, Bernard and Le Borgne, Michel},
  year      = {1991},
  publisher = {Oxford University Press},
}

@article{sugihara2011solvability,
  title   = {Solvability-unconcerned inverse kinematics by the {Levenberg--Marquardt} method},
  author  = {Sugihara, Tomomichi},
  journal = {IEEE Transactions on Robotics},
  volume  = {27},
  number  = {5},
  pages   = {984--991},
  year    = {2011},
}

@article{sola2018micro,
  title   = {A micro {Lie} theory for state estimation in robotics},
  author  = {Sol{\`a}, Joan and Deray, Jeremie and Atchuthan, Dennis},
  journal = {arXiv preprint arXiv:1812.01537},
  year    = {2018},
}

@misc{caron2023jacobian,
  author       = {Caron, St{\'e}phane},
  title        = {Jacobian of a kinematic task and derivatives on manifolds},
  year         = {2023},
  howpublished = {\url{https://scaron.info/robotics/jacobian-of-a-kinematic-task-and-derivatives-on-manifolds.html}},
}

% -----------------------------------------------------------------------------
% Related software
% -----------------------------------------------------------------------------

@misc{zakka2024mink,
  author       = {Zakka, Kevin},
  title        = {mink: differential inverse kinematics for {MuJoCo}},
  howpublished = {\url{https://github.com/kevinzakka/mink}},
}

@misc{caron2024pink,
  author       = {Caron, St{\'e}phane},
  title        = {Pink: {Python} inverse kinematics with {Pinocchio}},
  howpublished = {\url{https://github.com/stephane-caron/pink}},
}

@misc{deepmind2025mujocowarp,
  author       = {{Google DeepMind}},
  title        = {{MuJoCo Warp}},
  howpublished = {\url{https://github.com/google-deepmind/mujoco_warp}},
}

@misc{newtonphysics2025newton,
  author       = {{NVIDIA and Google DeepMind}},
  title        = {Newton: {GPU}-accelerated physics for robot learning},
  howpublished = {\url{https://github.com/newton-physics/newton}},
}
[Samson1991]

Samson, Espiau, Le Borgne, 1991.

[Sugihara2011]

Sugihara, 2011.

[Sola2018]

Solà et al., 2018.

[FrameTaskJacobian]

Caron, 2023.

[Mink]

Zakka, mink.

[Pink]

Caron, Pink.

[MuJoCoWarp]

Google DeepMind, MuJoCo Warp.

[Newton]

NVIDIA and Google DeepMind, Newton.