References

[Moo23]

Jason Moore. Learn multibody dynamics, sympy. https://moorepants.github.io/learn-multibody-dynamics/sympy.html, 2023.

[Wol26]

Cameron Wolfe. Grpo++: tricks for making rl actually work. https://cameronrwolfe.substack.com/p/grpo-tricks, 2026.