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Efficient approaches to differentiating through collision will be presented at ICRA 2023

Our paper entitled Differentiable Collision Detection: a Randomized Smoothing Approach has been accepted for presentation at ICRA 2023.

In this work, we introduce a generic and efficient approach to compute the derivatives of collision detection for any pair of convex shapes by leveraging randomized smoothing techniques which have shown to be particularly adapted to capture the derivatives of non-smooth problems.

This work is the result of the collaboration between INRIA and CTU in the framework of the AGIMUS project.

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This work is supported by the AGIMUS project funded by the European Union under GA no.101070165. Views and opinions expressed are, however, those of the authors only and do not necessarily reflect those of the European Union or the European Commission. Neither the European Union nor the European Commission can be held responsible for them.