Differentiable Collision Detection: a Randomized Smoothing Approach
Louis Montaut,Quentin Le Lidec,Antoine Bambade,Vladimir Petrik,Josef Sivic,Justin Carpentier,Louis Montaut,Quentin Le Lidec,Antoine Bambade,Vladimir Petrik,Josef Sivic,Justin Carpentier
Collision detection is an important component of many robotics applications, from robot control to simulation, including motion planning and estimation. While the seminal works on the topic date back to the 80s, it is only recently that the question of properly differentiating collision detection has emerged as a central issue, thanks notably to the ongoing and various efforts made by the scientif...
