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

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

IEEE International Conference on Robotics and Automation (ICRA), 2023

2 July 2023

Amirreza Razmjoo

Sylvain Calinon

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

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Title
$$\nabla$-SDF: Learning Euclidean Signed Distance Functions Online with Gradient-Augmented Octree Interpolation and Neural Residual$ $\nabla$ -SDF: Learning Euclidean Signed Distance Functions Online with Gradient-Augmented Octree Interpolation and Neural Residual Zhirui Dai Qihao Qian Tianxing Fan Nikolay Atanasov 85 0 0 21 Oct 2025
Shape-Space Graphs: Fast and Collision-Free Path Planning for Soft Robots Carina Veil Moritz Flaschel Ellen Kuhl 101 1 0 03 Oct 2025
Viability-Preserving Passive Torque Control Zizhe Zhang Yicong Wang Zhiquan Zhang Tianyu Li Nadia Figueroa 40 0 0 03 Oct 2025
Learning Safety for Obstacle Avoidance via Control Barrier Functions Shuo Liu Zhe Huang C. Belta 80 0 0 19 Sep 2025
CDFlow: Generative Gradient Flows for Configuration Space Distance Fields via Neural ODEs Mengzhu Li Yunyu Zhou He Ying F. Richard Yu 100 0 0 17 Sep 2025
Embracing Bulky Objects with Humanoid Robots: Whole-Body Manipulation with Reinforcement Learning Chunxin Zheng Kai Chen Zhihai Bi Yulin Li Liang Pan Jinni Zhou Haoang Li Jun Ma 124 0 0 16 Sep 2025
SAMP: Spatial Anchor-based Motion Policy for Collision-Aware Robotic Manipulators Kai Chen Zhihai Bi Guoyang Zhao Chunxin Zheng Yulin Li Hang Zhao Jun Ma 112 1 0 14 Sep 2025
INF-3DP: Implicit Neural Fields for Collision-Free Multi-Axis 3D Printing Jiasheng Qu Zhuo Huang Dezhao Guo Hailin Sun Aoran Lyu Chengkai Dai Yeung Yam Guoxin Fang AI4CE 66 0 0 02 Sep 2025
One-Step Model Predictive Path Integral for Manipulator Motion Planning Using Configuration Space Distance Fields Yulin Li Tetsuro Miyazaki Kenji Kawashima 92 0 0 31 Aug 2025
Scaling Whole-body Multi-contact Manipulation with Contact Optimization Victor Leve João Moura Sachiya Fujita Tamon Miyake Steve Tonneau S. Vijayakumar 108 0 0 18 Aug 2025
BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field Hardik Parwana Taekyung Kim Kehan Long Bardh Hoxha Hideki Okamoto Georgios Fainekos Dimitra Panagou 163 2 0 08 Jun 2025
Modular Robot Control with Motor Primitives Moses C. Nah Johannes Lachner Neville Hogan 283 1 0 15 May 2025
From Movement Primitives to Distance Fields to Dynamical SystemsIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Yiming Li Sylvain Calinon 137 2 0 13 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 343 3 0 06 Mar 2025
Neural Configuration Distance Function for Continuum Robot Control Kehan Long Hardik Parwana Georgios Fainekos Bardh Hoxha Hideki Okamoto Nikolay Atanasov 332 4 0 20 Sep 2024
Multi-Agent Obstacle Avoidance using Velocity Obstacles and Control Barrier FunctionsIEEE International Conference on Robotics and Automation (ICRA), 2024 Alejandro Sánchez Roncero Rafael I. Cabral Muchacho Petter Ogren 337 7 0 16 Sep 2024
Adaptive Distance Functions via Kelvin Transformation Rafael I. Cabral Muchacho Florian T. Pokorny 459 3 0 05 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 594 10 0 28 May 2024