NVIDIA WarpNew

Warp is a Python framework from NVIDIA (first released March 2022) that compiles decorated Python functions into efficient C++/CUDA kernels. Its defining feature is that every kernel is emitted together with a backward (adjoint) version, so gradients can be propagated through a full physical simulation — particle systems, rigid and soft bodies, FEM, SPH and robot controllers.

Warp underpins Isaac Lab and the Newton physics stack, and is widely used for differentiable simulation research such as contact-rich manipulation and trajectory optimization. The core library is Apache-2.0; the optional libmathdx math backend is distributed under the NVIDIA Software License Agreement, so deployments should review that component separately.