Open source toolchains. - Mark Barnes; Jon Phillips; Erwin Coumans; Morgan McGuire; Gary R. Bradski; Ton Roosendaal (Sandbox@SIGGRAPH, 2007)

COLLADA physics. - Erwin Coumans; Keith Victor (Web3D, 2007)

Interactive Simulation of Rigid Body Dynamics in Computer Graphics. - Jan Bender; Kenny Erleben; Jeff Trinkle; Erwin Coumans (Eurographics (State of the Art Reports), 2012)

Multithreading and VFX. - James Reinders; George ElKoura; Erwin Coumans; Ron Henderson; Martin Watt; Jeff Lait (SIGGRAPH Courses, 2013)

Bullet physics simulation. - Erwin Coumans (SIGGRAPH Courses, 2015)

Multithreading for visual effects. - James Reinders; Jeff Lait; Erwin Coumans; George ElKoura; Martin Watt (SIGGRAPH Courses, 2015)

Policies Modulating Trajectory Generators. - Atil Iscen; Ken Caluwaerts; Jie Tan 001; Tingnan Zhang; Erwin Coumans; Vikas Sindhwani; Vincent Vanhoucke (CoRL, 2018)

Optimizing Simulations with Noise-Tolerant Structured Exploration. - Krzysztof Choromanski; Atil Iscen; Vikas Sindhwani; Jie Tan 001; Erwin Coumans (ICRA, 2018)

Sim-to-Real: Learning Agile Locomotion For Quadruped Robots. - Jie Tan 001; Tingnan Zhang; Erwin Coumans; Atil Iscen; Yunfei Bai; Danijar Hafner; Steven Bohez; Vincent Vanhoucke (Robotics: Science and Systems, 2018)

Learning Agile Robotic Locomotion Skills by Imitating Animals. - Xue Bin Peng; Erwin Coumans; Tingnan Zhang; Tsang-Wei Edward Lee; Jie Tan 001; Sergey Levine (Robotics: Science and Systems, 2020)

Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap. - Eric Heiden; David Millard 001; Erwin Coumans; Gaurav S. Sukhatme (CoRR, 2020)

Learning Fast Adaptation With Meta Strategy Optimization. - Wenhao Yu 003; Jie Tan 001; Yunfei Bai; Erwin Coumans; Sehoon Ha (IEEE Robotics Autom. Lett., 2020)

Visual-Locomotion: Learning to Walk on Complex Terrains with Vision. - Wenhao Yu 003; Deepali Jain; Alejandro Escontrela; Atil Iscen; Peng Xu 010; Erwin Coumans; Sehoon Ha; Jie Tan 001; Tingnan Zhang (CoRL, 2021)

Fast and Efficient Locomotion via Learned Gait Transitions. - Yuxiang Yang 007; Tingnan Zhang; Erwin Coumans; Jie Tan 001; Byron Boots (CoRL, 2021)

NeuralSim: Augmenting Differentiable Simulators with Neural Networks. - Eric Heiden; David Millard 001; Erwin Coumans; Yizhou Sheng; Gaurav S. Sukhatme (ICRA, 2021)

Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks. - Daniel Seita; Pete Florence; Jonathan Tompson; Erwin Coumans; Vikas Sindhwani; Ken Goldberg; Andy Zeng 001 (ICRA, 2021)

Braxlines: Fast and Interactive Toolkit for RL-driven Behavior Engineering beyond Reward Maximization. - Shixiang Shane Gu; Manfred Diaz; C. Daniel Freeman; Hiroki Furuta; Seyed Kamyar Seyed Ghasemipour; Anton Raichuk; Byron David; Erik Frey; Erwin Coumans; Olivier Bachem (CoRR, 2021)

Differentiable Dynamics for Articulated 3d Human Motion Reconstruction. - Erik Gärtner; Mykhaylo Andriluka; Erwin Coumans; Cristian Sminchisescu (CVPR, 2022)

Multi-Task Learning with Sequence-Conditioned Transporter Networks. - Michael H. Lim; Andy Zeng 001; Brian Ichter; Maryam Bandari; Erwin Coumans; Claire J. Tomlin; Stefan Schaal; Aleksandra Faust (ICRA, 2022)

Inferring Articulated Rigid Body Dynamics from RGBD Video. - Eric Heiden; Ziang Liu 002; Vibhav Vineet; Erwin Coumans; Gaurav S. Sukhatme (IROS, 2022)

Robotic Table Tennis: A Case Study into a High Speed Learning System. - David B. D'Ambrosio; Navdeep Jaitly; Vikas Sindhwani; Ken Oslund; Peng Xu 010; Nevena Lazic; Anish Shankar; Tianli Ding; Jonathan Abelian; Erwin Coumans; Gus Kouretas; Thinh Nguyen; et al. (Robotics: Science and Systems, 2023)

Barkour: Benchmarking Animal-level Agility with Quadruped Robots. - Ken Caluwaerts; Atil Iscen; J. Chase Kew; Wenhao Yu 003; Tingnan Zhang; Daniel Freeman; Kuang-Huei Lee; Lisa Lee; Stefano Saliceti; Vincent Zhuang; Nathan Batchelor; Steven Bohez; et al. (CoRR, 2023)

Robotic Table Tennis: A Case Study into a High Speed Learning System. - David B. D'Ambrosio; Jonathan Abelian; Saminda Abeyruwan; Michael Ahn; Alex Bewley; Justin Boyd; Krzysztof Choromanski; Omar Cortes; Erwin Coumans; Tianli Ding; Wenbo Gao; Laura Graesser; et al. (CoRR, 2023)

The Design of the Barkour Benchmark for Robot Agility. - Wenhao Yu 003; Ken Caluwaerts; Atil Iscen; J. Chase Kew; Tingnan Zhang; Daniel Freeman; Lisa Lee; Stefano Saliceti; Vincent Zhuang; Nathan Batchelor; Steven Bohez; Federico Casarini; et al. (IROS, 2024)

Achieving Human Level Competitive Robot Table Tennis. - David B. D'Ambrosio; Saminda Abeyruwan; Laura Graesser; Atil Iscen; Heni Ben Amor; Alex Bewley; Barney J. Reed; Krista Reymann; Leila Takayama; Yuval Tassa; Krzysztof Choromanski; Erwin Coumans; et al. (CoRR, 2024)

MaskedManipulator: Versatile Whole-Body Control for Loco-Manipulation. - Chen Tessler; Yifeng Jiang 009; Erwin Coumans; Zhengyi Luo 002; Gal Chechik; Xue Bin Peng (CoRR, 2025)