4 citations · 11 across the 9 of their papers we have counts for
4 papers · 1 filter
Differentiable Collision Detection: a Randomized Smoothing Approach
Louis Montaut, Quentin Le Lidec, Antoine Bambade +3
Collision detection appears as a canonical operation in a large range of robotics applications from robot control to simulation, including motion planning and estimation. While the…
Augmenting differentiable physics with randomized smoothing
Quentin Le Lidec, Louis Montaut, Cordelia Schmid +2
In the past few years, following the differentiable programming paradigm, there has been a growing interest in computing the gradient information of physical processes (e.g., physi…
Collision Detection Accelerated: An Optimization Perspective
Louis Montaut, Quentin Le Lidec, Vladimir Petrik +2
Collision detection between two convex shapes is an essential feature of any physics engine or robot motion planner. It has often been tackled as a computational geometry problem,…
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems
Quentin Le Lidec, Fabian Schramm, Louis Montaut +3
Optimal control (OC) algorithms such as Differential Dynamic Programming (DDP) take advantage of the derivatives of the dynamics to efficiently control physical systems. Yet, in th…