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07/01/2022
Differentiable Collision Detection for a Set of Convex Primitives
Collision detection between objects is critical for simulation, control,...
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07/01/2022
DiffPills: Differentiable Collision Detection for Capsules and Padded Polygons
Collision detection plays an important role in simulation, control, and ...
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05/19/2022
CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints
We present a new solver for non-convex trajectory optimization problems ...
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03/02/2022
Dojo: A Differentiable Simulator for Robotics
We present a differentiable rigid-body-dynamics simulator for robotics t...
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09/10/2021
Trajectory Optimization with Optimization-Based Dynamics
We present a framework for bi-level trajectory optimization in which a s...
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10/16/2020