DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons

Collision detection plays an important role in simulation, control, and learning for robotic systems. However, no existing method is differentiable with respect to the configurations of the objects, greatly limiting the sort of algorithms that can be built on top of collision detection. In this work...

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Bibliographische Detailangaben

Hauptverfasser:	Tracy, Kevin, Howell, Taylor A, Manchester, Zachary
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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