Representing Robot Geometry as Distance Fields: Applications to Whole-body Manipulation

2 July 2023

Papers citing "Representing Robot Geometry as Distance Fields: Applications to Whole-body Manipulation"

22 / 22 papers shown

Title
Modular Robot Control with Motor Primitives Moses C. Nah Johannes Lachner Neville Hogan 21 0 0 15 May 2025
Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit Representations Ken-Joel Simmoteit Philipp Schillinger Leonel Rozo 32 0 0 26 Apr 2025
Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Rafael I. Cabral Muchacho Riddhiman Laha Florian T. Pokorny Luis F. C. Figueredo N. Chakraborty 30 0 0 24 Apr 2025
From Movement Primitives to Distance Fields to Dynamical Systems Yiming Li Sylvain Calinon 24 0 0 13 Apr 2025
Nonconvex Obstacle Avoidance using Efficient Sampling-Based Distance Functions Paul Lutkus Michelle S. Chong Lars Lindemann 36 0 0 12 Apr 2025
Neural Configuration-Space Barriers for Manipulation Planning and Control Kehan Long Ki Myung Brian Lee Nikola Raicevic Niyas Attasseri Melvin Leok Nikolay Atanasov 74 0 0 06 Mar 2025
Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields Xuemin Chi Yiming Li Jihao Huang Bolun Dai Zhitao Liu Sylvain Calinon 77 1 0 21 Dec 2024
PC-Planner: Physics-Constrained Self-Supervised Learning for Robust Neural Motion Planning with Shape-Aware Distance Function Xujie Shen Haocheng Peng Zesong Yang Juzhan Xu Hujun Bao Ruizhen Hu Zhaopeng Cui 52 2 0 30 Sep 2024
Efficient Collision Detection Framework for Enhancing Collision-Free Robot Motion Xiankun Zhu Yucheng Xin Shoujie Li Houde Liu Chongkun Xia Bin Liang 33 2 0 23 Sep 2024
Neural Configuration Distance Function for Continuum Robot Control Kehan Long Hardik Parwana Georgios Fainekos Bardh Hoxha Hideki Okamoto Nikolay Atanasov 45 1 0 20 Sep 2024
Multi-Agent Obstacle Avoidance using Velocity Obstacles and Control Barrier Functions Alejandro Sánchez Roncero Rafael I. Cabral Muchacho Petter Ogren 23 2 0 16 Sep 2024
PhysHand: A Hand Simulation Model with Physiological Geometry, Physical Deformation, and Accurate Contact Handling Mingyang Sun Dongliang Kou Ruisheng Yuan Dingkang Yang Peng Zhai Xiao Zhao Y. Jiang Xiong Li Jingchen Li Lihua Zhang 3DH 21 0 0 08 Sep 2024
RMMI: Enhanced Obstacle Avoidance for Reactive Mobile Manipulation using an Implicit Neural Map Nicolas Marticorena Tobias Fischer Jesse Haviland Niko Suenderhauf 42 1 0 29 Aug 2024
Adaptive Distance Functions via Kelvin Transformation Rafael I. Cabral Muchacho Florian T. Pokorny 37 2 0 05 Jun 2024
Configuration Space Distance Fields for Manipulation Planning Yiming Li Xuemin Chi Amirreza Razmjoo Sylvain Calinon 39 11 0 03 Jun 2024
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments Kehan Long Yinzhuang Yi Zhirui Dai Sylvia Herbert Jorge Cortés Nikolay Atanasov 143 4 0 28 May 2024
Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators Zhiquan Zhang Tianyu Li Nadia Figueroa 21 0 0 14 Mar 2024
Neural Implicit Swept Volume Models for Fast Collision Detection Dominik Joho Jonas Schwinn Kirill Safronov 16 2 0 23 Feb 2024
Online Learning of Continuous Signed Distance Fields Using Piecewise Polynomials Ante Marić Yiming Li Sylvain Calinon 26 4 0 15 Jan 2024
HIO-SDF: Hierarchical Incremental Online Signed Distance Fields V. Vasilopoulos Suveer Garg Jinwook Huh Bhoram Lee Volkan Isler 30 4 0 14 Oct 2023
Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning Danny Driess Jung-Su Ha Marc Toussaint Russ Tedrake 119 63 0 02 Oct 2021
Mixture Models for the Analysis, Edition, and Synthesis of Continuous Time Series Sylvain Calinon 31 31 0 21 Apr 2021